Discrete Decision Architecture for Motion Planning System of an Autonomous Vehicle

ABSTRACT

The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a motion planning system that generates constraints as part of determining a motion plan for an autonomous vehicle (AV). In particular, a constraint solver determines a multi-dimensional space for each phase of a plurality of different phases of a lane change maneuver. For each different phase, objects of interest interacting with first and second lanes of the nominal path can be determined and constraints can be respectively generated. A portion of the multi-dimensional space including corresponding constraints that applies to a respective timeframe associated with each phase can be determined. The respective portions of the multi-dimensional space including corresponding constraints for each phase of the plurality of different phases of the lane change maneuver can be combined to generate a multiplexed space through which a low-cost trajectory path can be determined.

PRIORITY CLAIM

The present application claims the benefit of and priority to U.S.Provisional Patent Application No. 62/617,417, filed Jan. 15, 2018. U.S.Provisional Patent Application No. 62/617,417 is hereby incorporated byreference in its entirety.

FIELD

The present disclosure relates generally to autonomous vehicletechnology. More particularly, the present disclosure relates toautonomous vehicles that feature a motion planning system having adiscrete decision architecture.

BACKGROUND

An autonomous vehicle is a vehicle that is capable of sensing itsenvironment and navigating with little or no human input. In particular,an autonomous vehicle can observe its surrounding environment using avariety of sensors and can attempt to comprehend the environment byperforming various processing techniques on data collected by thesensors. Given knowledge of its surrounding environment, the autonomousvehicle can identify an appropriate motion path through such surroundingenvironment.

SUMMARY

Aspects and advantages of embodiments of the present disclosure will beset forth in part in the following description, or can be learned fromthe description, or can be learned through practice of the embodiments.

One example aspect of the present disclosure is directed to a computingsystem that controls an autonomous vehicle. The computing systemincludes one or more processors and one or more non-transitorycomputer-readable media that collectively store instructions that, whenexecuted by the one or more processors, cause the one or more processorsto perform operations. The operations include determining amulti-dimensional space for each phase of a plurality of differentphases of a lane change maneuver associated with at least first andsecond lanes of a nominal path for an autonomous vehicle. The operationsalso include for each different phase of the lane change maneuver:determining one or more objects of interest having a predeterminedmanner of interaction with the at least first and second lanes of thenominal path during the phase; generating a constraint for each of theone or more objects of interest, each constraint identifying aconstraint area along the nominal path that the autonomous vehiclecannot occupy during the phase; and determining a portion of themulti-dimensional space including corresponding constraints that appliesto a respective timeframe associated with the phase. The operations alsoinclude combining the respective portions of the multi-dimensional spaceincluding corresponding constraints for each phase of the plurality ofdifferent phases of the lane change maneuver to generate a multiplexedspace. The operations also include determining a set of navigationdecisions relative to the one or more objects of interest across thedifferent phases and corresponding timeframes of the multiplexed space.

Another example aspect of the present disclosure is directed to anautonomous vehicle. The autonomous vehicle includes one or moreprocessors and one or more non-transitory computer-readable media thatcollectively store instructions that, when executed by the one or moreprocessors, cause the one or more processors to perform operations. Theoperations include determining a multi-dimensional space for each phaseof a plurality of different phases of a lane change maneuver associatedwith at least first and second lanes of a nominal path for an autonomousvehicle. The operations also include for each different phase of thelane change maneuver: determining one or more objects of interest havinga predetermined manner of interaction with the at least first and secondlanes of the nominal path during the phase; generating a constraint foreach of the one or more objects of interest, each constraint identifyinga constraint area along the nominal path that the autonomous vehiclecannot occupy during the phase; and determining a portion of themulti-dimensional space including corresponding constraints that appliesto a respective timeframe associated with the phase. The operations alsoinclude combining the respective portions of the multi-dimensional spaceincluding corresponding constraints for each phase of the plurality ofdifferent phases of the lane change maneuver to generate a multiplexedspace. The operations also include determining a trajectory path througha portion of the multiplexed space that does not include the constraintareas. The operations also include determining, based at least in parton the trajectory path, a set of navigation decisions relative to theone or more objects of interest across the different phases andcorresponding timeframes of the multiplexed space.

Another example aspect of the present disclosure is directed to acomputer-implemented method. The method includes determining, by acomputing system that comprises one or more computing devices, amulti-dimensional space for each phase of a plurality of differentphases of a lane change maneuver associated with at least first andsecond lanes of a nominal path for an autonomous vehicle. The methodalso includes for each different phase of the lane change maneuver:determining, by the computing system, one or more objects of interesthaving a predetermined manner of interaction with the at least first andsecond lanes of the nominal path during the phase; generating, by thecomputing system, a constraint for each of the one or more objects ofinterest, each constraint identifying a constraint area along thenominal path that the autonomous vehicle cannot occupy during the phase;and determining, by the computing system, a portion of themulti-dimensional space including corresponding constraints that appliesto a respective timeframe associated with the phase. The method alsoincludes combining, by the computing system, the respective portions ofthe multi-dimensional space including corresponding constraints for eachphase of the plurality of different phases of the lane change maneuverto generate a multiplexed space. The method also includes determining,by the computing system, a set of navigation decisions relative to theone or more objects of interest across the different phases andcorresponding timeframes of the multiplexed space.

Other aspects of the present disclosure are directed to various systems,apparatuses, non-transitory computer-readable media, user interfaces,and electronic devices.

These and other features, aspects_(;) and advantages of variousembodiments of the present disclosure will become better understood withreference to the following description and appended claims. Theaccompanying drawings, which are incorporated in and constitute a partof this specification, illustrate example embodiments of the presentdisclosure and, together with the description, serve to explain therelated principles.

BRIEF DESCRIPTION OF THE DRAWINGS

Detailed discussion of embodiments directed to one of ordinary skill inthe art is set forth in the specification, which makes reference to theappended figures, in which:

FIG. 1 depicts a block diagram of an example autonomous vehicleaccording to example embodiments of the present disclosure.

FIG. 2 depicts a block diagram of an example motion planning systemaccording to example embodiments of the present disclosure.

FIG, 3 depicts a block diagram of an example optimization planneraccording to example embodiments of the present disclosure.

FIG. 4 depicts a block diagram of an example scenario generatoraccording to example embodiments of the present disclosure.

FIGS. 5A-5E depict respective graphical diagrams of example scenariosfor determining object-lane interaction according to example embodimentsof the present disclosure.

FIGS. 6A-6D depict respective graphical diagrams of example scenariosfor determining blocking objects according to example embodiments of thepresent disclosure.

FIGS. 7A-7B depict respective graphical diagrams of example scenariosfor determining yield zones according to example embodiments of thepresent disclosure,

FIG. 8 depicts a graphical representation of an examplemulti-dimensional space for representing constraints according toexample embodiments of the present disclosure.

FIG. 9 depicts a graphical representation of determining an exampletrajectory path according to example embodiments of the presentdisclosure.

FIG, 10 depicts a graphical representation of example decisionextraction according to example embodiments of the present disclosure.

FIG. 11 depicts a graphical representation of an example autonomousvehicle lane change according to example embodiments of the presentdisclosure.

FIG-, 12 depicts a graphical representation of multiple example phasesof a vehicle lane change according to example embodiments of the presentdisclosure.

FIG. 13 depicts a graphical representation of multiple phases of avehicle lane change in an example multi-dimensional space according toexample embodiments of the present disclosure.

FIG. 14 depicts a block diagram of an example scenario generator whenchanging lanes according to example embodiments of the presentdisclosure.

FIG. 15 depicts a flow chart diagram of a first example method ofscenario generation according to example embodiments of the presentdisclosure.

FIG. 16 depicts a flow chart diagram of an example method to determine atrajectory path according to example embodiments of the presentdisclosure.

FIG. 17 depicts a flow chart diagram of an example method to determineblocking decisions according to example embodiments of the presentdisclosure.

FIG, 18 depicts a flow chart diagram of a second example method ofscenario generation according to example embodiments of the presentdisclosure.

FIG. 19 depicts a block diagram of an example computing system accordingto example embodiments of the present disclosure.

DETAILED DESCRIPTION

Generally, the present disclosure is directed to systems and methodsthat include or otherwise leverage a motion planning system thatgenerates constraints as part of determining a motion plan for anautonomous vehicle (AV). In particular, a scenario generator within amotion planning system can generate constraints based on where objectsof interest are predicted to be relative to an autonomous vehicle. Aconstraint solver can identify navigation decisions for each of theconstraints that provide a consistent solution across all constraints.The solution provided by the constraint solver can be in the form of atrajectory path determined relative to constraint areas for all objectsof interest. The trajectory path represents a set of navigationdecisions such that a navigation decision relative to one constraintdoesn't sacrifice an ability to satisfy a different navigation decisionrelative to one or more other constraints. The set of navigationdecisions can then be used by an optimization planner within the motionplanning system to search over a motion planning space to identify amotion plan that optimizes a total cost associated with the motion plan.The motion of the autonomous vehicle can be controlled in accordancewith the motion plan, thus providing improved autonomous vehicle drivingperformance (e.g., safety, comfort, etc.) in various situations whichrequire consistent navigation decisions to be made relative to multiplefactors.

More particularly, in some implementations, an autonomous vehicle can bea ground-based autonomous vehicle (e.g., car, truck, bus, etc.), anair-based autonomous vehicle (e.g., airplane, drone, helicopter, orother aircraft), or other types of vehicles (e.g., watercraft,rail-based vehicles, etc.). The autonomous vehicle can include anautonomy computing system that assists in controlling the autonomousvehicle. In some implementations, the autonomy computing system caninclude a perception system, a prediction system, and a motion planningsystem that cooperate to perceive the surrounding environment of theautonomous vehicle and determine a motion plan for controlling themotion of the autonomous vehicle accordingly.

In particular, in some implementations, the perception system canreceive sensor data from one or more sensors that are coupled to orotherwise included within the autonomous vehicle. As examples, the oneor more sensors can include a Light Detection and Ranging (LIDAR)system, a Radio Detection and Ranging (RADAR) system, one or morecameras (e.g., visible spectrum cameras, infrared cameras, etc.), apositioning system (e.g., GPS), and/or other sensors. The sensor datacan include information that describes the location of objects withinthe surrounding environment of the autonomous vehicle. For example, theobjects can include traffic signals, additional vehicles, pedestrians,bicyclists, and/or other objects.

In addition to the sensor data, the perception system can retrieve orotherwise obtain map data that provides detailed information about thesurrounding environment of the autonomous vehicle. The map data canprovide information regarding the identity and location of differentroadways, road segments, buildings, or other items; the location anddirections of traffic lanes (e.g., the location and direction of aparking lane, a turning lane, a bicycle lane, or other lanes within aparticular roadway); traffic control data (e.g., the location, timing,and/or instructions of signage (e.g., stop sign or yield sign), trafficlights (e.g., stop light), or other traffic signals or controldevices/markings (e.g., cross walks)); and/or any other map data thatprovides information that assists the computing system in comprehendingand perceiving its surrounding environment and its relationship thereto.

The perception system can identify one or more objects that areproximate to the autonomous vehicle based on sensor data received fromthe one or more sensors and/or the map data. In particular, in someimplementations, the perception system can provide, for one or more ofthe objects, state data that describes a current state of such object.As examples, the state data for each object can describe an estimate ofthe object's current location (also referred to as position); currentspeed (also referred to as velocity); current acceleration, currentheading; current orientation; size/footprint (e.g., as represented by abounding polygon); class (e.g., vehicle vs. pedestrian vs. bicycle),and/or other state information.

The prediction system can receive the state data and can predict one ormore future locations for the object(s) identified by the perceptionsystem. For example, various prediction techniques can be used topredict the one or more future locations for the object(s) identified bythe perception system. The prediction system can provide the predictedfuture locations of the objects to the motion planning system. In someimplementations, predictions are provided only for objects of certainclass(es).

The motion planning system can determine a motion plan for theautonomous vehicle based at least in part on the state data provided bythe perception system and/or the predicted one or more future locationsfor the objects. Stated differently, given information about the currentlocations of proximate objects and/or predictions about the futurelocations of proximate objects, the motion planning system can determinea motion plan for the autonomous vehicle that best navigates the vehiclerelative to the objects at their current and/or future locations. As oneexample, the motion planning system can include a trajectory generatorthat generates a planned trajectory (e.g., a motion plan) for theautonomous vehicle.

As an example, in some implementations, the motion planning systemoperates to generate a new autonomous motion plan for the autonomousvehicle multiple times per second. Each new autonomous motion plan candescribe motion of the autonomous vehicle over a planning window thatspans the next several seconds (e.g., 5 seconds). Thus, in some exampleimplementations, the motion planning system continuously operates torevise or otherwise generate a short-term motion plan based on thecurrently available data.

In some implementations, the motion planning system (e.g., thetrajectory generator) can include an optimization planner that, for eachinstance of generating a new motion plan, searches (e.g., iterativelysearches) over a motion planning space (e.g., a vehicle state space) toidentify a motion plan that optimizes (e.g., locally optimizes) a totalcost associated with the motion plan, as provided by one or more costfunctions. For example, the motion plan can include a series of vehiclestates and/or a series of controls to achieve the series of vehiclestates. A vehicle state can include the autonomous vehicle's currentlocation (also referred to as position); current speed (also referred toas velocity); current acceleration, current heading; currentorientation; and/or other state information. As an example, in someimplementations, the optimization planner can be or include an iterativelinear quadratic regulator or similar iterative solver.

Once the optimization planner has identified the optimal motion plan (orsome other iterative break occurs), the optimal motion plan can beselected and executed by the autonomous vehicle. For example, the motionplanning system can provide the selected motion plan to a vehiclecontroller that controls one or more vehicle controls (e.g., actuatorsthat control gas flow, steering, braking, etc.) to execute the selectedmotion plan until the next motion plan is generated.

In some implementations, the motion planning system can employ orotherwise include one or more cost functions that, when evaluated,provide a total cost for a particular motion plan. The optimizationplanner can search over a motion planning space (e.g., a vehicle statespace) to identify a motion plan that optimizes (e.g., locallyoptimizes) the total cost provided by the one or more cost functions.

In some implementations, different cost function(s) can be useddepending upon a particular scenario that is selected by the motionplanning system. In particular, in some implementations, the motionplanning system can include a scenario generator that determines certainscenarios (e.g., a changing lanes scenario versus a queueing scenario)and guides the behavior of the autonomous vehicle according to theselected scenario. Different sets of one or more cost functions cancorrespond to the different possible scenarios and the cost function(s)corresponding to the selected scenario can be loaded and used by themotion planning system (e.g., the trajectory generator) at each instanceof motion planning.

Thus, in some implementations, the motion planner or other portion ofthe autonomy computing system can include one or more scenariogenerators that make discrete decisions regarding control of theautonomous vehicle according to different scenarios. In someimplementations, a scenario generator can include an object classifier,a constraint generator, a constraint solver, and a decision extractor.The output of the scenario generator can correspond to a set ofnavigation decisions that are determined relative to perceived objectsand corresponding constraints. The set of navigation decisions can becommunicated to the optimization planner, which can determine a motionplan optimized over a motion planning space defined by the set ofnavigation decisions.

More particularly, the scenario generator can include an objectclassifier that determines one or more objects of interest (e.g.,vehicles, pedestrians, bicycles, etc.) that are interacting with a lanesequence (e.g., a lane sequence that an autonomous vehicle can followwithout changing lanes) associated with a nominal path for an autonomousvehicle. In some implementations, an object classifier can moreparticularly include a blocking classifier, a yield zone generator, anda side classifier.

More particularly, in some implementations, an object classifier can beconfigured to determine how an object of interest is interacting with agiven lane. In some implementations, objects of interest can becategorized according to one or more of a predetermined set ofinteraction modes. Example interaction modes can correspond, forinstance, to tracking (e.g., tracking with an AV in a given lane),crossing (e.g., crossing in front of an AV in a given lane), entering(e.g., entering a given lane currently occupied by an AV), exiting(e.g., exiting a given lane currently occupied by an AV), oncoming(e.g., heading towards an AV in a given lane), parked (e.g., parked in agiven lane occupied by an AV), etc. In some implementations, an objectclassifier can be configured to determine a side of a nominal path forthe AV for each object considered to be non-blocking. For example, aparked vehicle may be determined to be on the left side of a given laneat a certain time period or a crossing pedestrian may be determined tobe on the right side of a given lane at a certain time period.

More particularly, an object classifier can make determinations based onworld state data determined by an autonomy computing system. Forexample, the autonomy computing system can determine one or morefeatures associated with an object and/or the surrounding environment.For example, the features can be determined based at least in part onthe state data associated with the object. In some implementations, theautonomy computing system can determine the feature(s) based at least inpart on other information, such as the acquired map data. The feature(s)can be indicative of the movement (or lack thereof) and/or position ofthe object relative to items within the vehicle's surroundings and/orother information associated with the object. For example, thefeature(s) can include a location of the object relative to a travel way(e.g., relative to the left or right lane markings), a location of theobject relative to the autonomous vehicle (e.g., a distance between thecurrent locations of the vehicle and the object), one or morecharacteristic(s) of the object relative to a travel route associatedwith the autonomous vehicle (e.g., whether the object is movingparallel, towards, or away from the vehicle's current/future travelroute or a predicted point of intersection with the vehicle's travelroute), etc. In some implementations, the feature(s) determined for aparticular object may depend at least in part on the class of thatobject. For example, the predicted path for a vehicle or bicycletraveling on a roadway may be different than that associated with apedestrian traveling on a sidewalk. World state data that includesfeatures associated with one or more objects of interest can also bereferred to as feature data.

More particularly, in some implementations, a blocking classifierassociated with an object classifier can be configured to determine oneor more blocking objects based at least in part on a manner ofinteraction that an object of interest has with a given lane or lanesequence. In some implementations, an object of interest in a given lanecan be determined to be a blocking object relative to an AV operating inthe same given lane when the object of interest has a manner ofinteraction that provides insufficient spatial clearance and/or temporalclearance for the AV to pass the object within the lane. In someimplementations, an object of interest in a given lane can be determinedto be a blocking object relative to an AV operating in the same givenlane when the object of interest has a manner of interaction thatpositions the object either ahead or behind the AV and moving with theflow of traffic.

More particularly, a blocking classifier can analyze feature dataassociated with objects of interest to determine one or more blockingobjects. In some implementations, a blocking classifier can analyzefeature data associated with objects of interest using one or morehard-coded rules and/or heuristics to classify each object as a blockingobject or a non-blocking object. In some implementations, the blockingclassifier can include or otherwise access a machine-learned blockingclassifier model that is trained to determine from feature dataassociated with an object whether to classify the object as a blockingobject or a non-blocking object. In some implementations, feature datadescriptive of an object (e.g., a first object) perceived by anautonomous vehicle can be obtained. The feature data can be provided asinput to the machine-learned blocking classifier model, and in response,a blocking decision can be received as output of the machine-learnedblocking classifier model. The blocking decision can describe the object(e.g., the first object) as a blocking object or a non-blocking object.

When an object of interest is determined to be a blocking object, aconstraint can be generated for that object that requires the AV to beahead or behind the predicted object at one or more given times. Inother words, a constraint associated with a blocking object prevents anAV from being at the same longitudinal distance and time as the objectwithin a given lane regardless of how far the AV shifts in the lateraldirection within the lane. When a constraint for a blocking object isgenerated in a multi-dimensional space such as that path time spaceembodiment described herein, a constraint area completely encompasses alateral swath of the multi-dimensional space corresponding to a startand stop distance for all times in a given timespan along the timedimension.

More particularly, in some implementations, a yield zone generatorwithin an object classifier can be configured to determine one or moreyield zones. In some implementations, yield zones can be defined as aspatial and temporal region that an AV cannot occupy within. Forexample, a yield zone can be defined for intersections such as, but notlimited to traffic lights, stop signs, crosswalks, etc. In anotherexample, yield zones can be defined relative to objects of interest thatare considered to be crossing actors relative to an AV (e.g., anothervehicle making an unprotected left in front of the AV, a jaywalker,another vehicle turning across the AV's current lane, etc.). Whencrossing actors are identified, the yield zone generator can thusdetermine a fixed area (e.g., a fixed area defined relative to a map)for ensuring that the autonomous vehicle does not stop in the area whereit perceives actors to be crossing.

In some implementations, a constraint generator is configured togenerate a constraint for each of the one or more objects of interestdetermined by the object classifier (e.g., blocking objects, yieldzones, etc.). Each constraint can be associated with a correspondingconstraint area defined relative to a multi-dimensional space. In someimplementations, the multi-dimensional space (e.g., a path time (PT)space) comprises at least a time dimension and a distance dimensionrelative to travel along the nominal path. Generally, each constraintarea can identify regions along the nominal path that an autonomousvehicle cannot occupy at certain times.

In some implementations, a nominal path associated with constraints andconstraint areas as described herein can correspond to a predeterminedpotential path for an autonomous vehicle. As an example, in someinstances, nominal paths can generally correspond to common patterns ofvehicle travel along one or more lanes (e.g., lanes on a roadway orother travelway). As one example, a nominal path can generally describea path by which a vehicle or other object may continue according to itscurrent lane; merge from its current lane into an adjacent lane; turnfrom the current lane into an adjacent road portion; or other pathwaysthat correspond to other driving actions. In some implementations,nominal paths can be defined relative to map data associated withvarious roadways, road portions or segments, lanes, or the like. Forexample, nominal paths can be defined as a center line or other lineparallel or in some predetermined relationship relative to suchroadways, road portions or segments, lanes, or the like.

In some implementations, each constraint area can be defined by one ormore of a start time when the constraint begins, a stop time when theconstraint ends, a start distance along the nominal path when theconstraint begins, a stop distance along the nominal path when theconstraint ends, and/or a maximum velocity that an autonomous vehiclecan travel through the constraint area,

In some implementations, each constraint area can be defined by one ormore constraint sequences. A constraint sequence can correspond to aplurality of linear constraints that are successively sampled over aduration in time and sequentially combined to generate the constraintsequence. Constraint sequences can be employed to generate more complex(e.g., non-linear) shapes within the multi-dimensional space (e.g., PTspace), which can be representative of object motion/velocity that isdynamic instead of constant within the PT space. For example, if adetected object (e.g., a vehicle) is accelerating in front of the AV inthe same lane as the AV, a constraint associated with the detectedobject can be modeled as a quadratic upward sweeping constraint in thePT space. This more complex constraint area can be approximated with aconstraint sequence of linear constraints, where each successive linearconstraint within the constraint sequence has a steeper slope than thelast. These successive linear constraints can be sampled at apredetermined frequency (e.g. 1 Hz) for the duration of time in whichthe detected object is blocking the lane.

in some implementations, constraints can be generated for the timedimension corresponding to a certain time period (e.g. a ten second timeperiod) that includes a plurality of time steps (e.g., one second timeintervals or less). In some implementations, constraints are generatedbased on how objects are classified according to each respective timestep. For example, an object can be considered a blocking object duringa first time step (t0, t1) but a non-blocking object during a secondtime step (t1, t2). As such, at each time step during a time period, anautonomy computing system can classify an object (e.g., by determiningif the object is or is not blocking a lane) and generate a correspondingconstraint based on the classification.

In some implementations, the constraint generator can be furtherconfigured to generate one or more buffer zones. A buffer zone can bedefined relative to a constraint to provide additional areas in themulti-dimensional space for having further clearance relative to anobject of interest. In some implementations, a buffer zone associatedwith a given constraint corresponds to an area within multi-dimensionalspace that surrounds at least a portion of a constraint area within themulti-dimensional space. For example, a temporal buffer zone can begenerated that has a start time that is before the start time of anassociated constraint and/or a stop time that is after the stop time ofthe associated constraint. A spatial buffer zone can be generated thathas as start distance that is before the start distance of an associatedconstraint and/or a stop distance that is after the stop distance of theassociated constraint.

In some implementations, the constraint generator can include one ormore speed regressors configured to generate one or more speed zoneswithin the multi-dimensional space. A speed zone can be defined as aconstraint area within multi-dimensional space in which an AV cantravel, but with limitations on AV travel speed. As such, constraintareas can be defined within multi-dimensional space that control howfast an AV travels relative to specific areas in space and time (e.g.,areas corresponding to other objects, areas corresponding to specificlocations on a map, areas associated with a particular maneuver of theAV at a given time, etc.)

In some implementations, the scenario generator can be furtherconfigured to identify navigation decisions for each of the constraintsgenerated by the constraint generator that provides a consistentsolution across all constraints. For example, a constraint solver can beconfigured to determine a low-cost trajectory path that traversesthrough the multi-dimensional space that does not include the constraintareas. It should be appreciated that many different methods can beutilized to determine the low-cost trajectory path through themulti-dimensional space. In one example implementation, a rollout methodis employed whereby determining a low-cost trajectory path through aportion of the multi-dimensional space that does not include theconstraint areas includes determining a set of candidate trajectorypaths through the multi-dimensional space. A score for each candidatetrajectory path in the set of candidate trajectory paths can begenerated, and a selected low-cost trajectory path can be determinedbased at least in part on the scores for each candidate trajectory pathin the set of candidate trajectory paths.

With more particular reference to determining a low-cost trajectorypath, the score generated for each candidate trajectory path can includeone or more scoring factors, including but not limited to costs,discounts and/or rewards associated with aspects of a candidatetrajectory path for use in evaluation of a cost function or otherscoring equation. Example scoring factors can include, for example, adynamics cost for given dynamics (e.g., jerk, acceleration) associatedwith the candidate trajectory path, a buffer cost associated withproximity of a candidate trajectory path to one or more constraintsand/or buffer zones within the multi-dimensional space, a constraintviolation cost associated with violating one or more constraints and/orbuffer zones, a reward or discount for one or more achieved performanceobjectives (e.g., a distance traveled reward for moving forward asopposed to not moving), a blind spot cost associated with a candidatetrajectory path that involves spending time in a blind spot of otheractors (e.g., other vehicles). The constraint solver can be configuredto determine the low-cost trajectory path by determining the candidatetrajectory path that has a lowest total cost (or highest reward)associated with the trajectory path.

In some implementations, the scenario generator can be furtherconfigured to extract a set of navigation decisions from the determinedtrajectory path. For example, a decision extractor can be configured totranslate the trajectory path into a set of navigation decisions basedat least in part on whether the trajectory path passes above or beloweach constraint area associated with an object of interest within themulti-dimensional space. More particularly, in some implementations,navigation decisions can correspond to possible actions (e.g., lead,follow, ignore, nudge, clear, yield, etc.) that an AV can take relativeto an object of interest. In some implementations, the set of navigationdecisions relative to the one or more objects of interest can includeone or more of a navigation decision to lead or follow an object ofinterest or a navigation decision to yield or clear an object ofinterest. In some implementations, the scenario generator can thusdetermine high-level decisions that correspond to or otherwise mimichuman-level understanding and decision making about the surroundingenvironment (e.g., whether to lead or follow a particular object orwhether to yield to or clear a particular object).

In some implementations, the decision extractor can also be configuredto prune a subset of constraints when a first portion of navigationdecisions in the set of navigation decisions renders the subset of theconstraints as no longer affecting a second portion of navigationdecisions in the set of navigation decisions. Pruning can helpadvantageously reduce the number of data variables ultimately providedfrom the scenario generator to the optimization planner, thus alsoreducing processing latency at the optimization planner within themotion planning system.

Once such discrete decisions have been made, the trajectory generatorcan generate a trajectory (e.g., through local optimization over a setof appropriate cost functions) that executes or otherwise complies withthe decisions made by the scenario generator. More particularly, forexample, the set of navigation decisions determined by the decisionextractor can be sent to the optimization planner within the motionplanning system. As previously described, the optimization plannersearches over a motion planning space to identify a motion plan thatoptimizes (e.g., locally optimizes) a total cost associated with themotion plan, as provided by one or more cost functions.

The motion planning space analyzed by the optimization planner can bedefined at least in part by the set of navigation decisions determinedby the scenario generator. As such, the optimization planner can have afocused motion planning space that is consistent with the trajectorypath determined by the scenario generator. The motion plan can beoptimized relative to multiple space dimensions (e.g., a lateraldimension associated with steering of the AV as well as a longitudinaldimension associated with braking/acceleration of the AV) for a givenperiod of time.

The autonomy computing system can control the autonomous vehicle toimplement the motion plan. For example, the motion planning system canprovide the selected motion plan to a vehicle controller that controlsone or more vehicle controls (e.g., actuators that control gas flow,steering, braking, etc.) to execute the selected motion plan until thenext motion plan is generated.

According to an aspect of the present disclosure, the motion planningsystem of the autonomy computing system can be further configured todetermine a route maneuver including a sequence of one or moresuccessive lane sequences associated with the nominal path for theautonomous vehicle at a given time. For example, a route maneuvercorresponding to a lane change can include a lane sequence associatedwith a first lane, a lane sequence transitioning from the first lane toa second lane, and a lane sequence associated with the second lane.Various algorithmic determinations made by the scenario generator can beimplemented for each of the different successive lane sequences in theroute maneuver. For example, object classifications g., determiningobject-lane interactions, blocking classifications, yield zones and thelike) can be implemented for each of the one or more successive lanesequences in a route maneuver.

According to an aspect of the present disclosure, the motion planningsystem can implement a specific type of data transformation duringscenario generation when determining a motion plan that includesmultiple lanes or lane sequences, such as during a lane change. Forexample, in some implementations, the performance of a lane change foran autonomous vehicle may occur in a number of phases defined relativeto at least first and second lanes which can be used in accordance withthe disclosed motion planning system and associated aspects. In someimplementations of the disclosed technology, a lane change can be viewedas being divided into three phases. The first (initiation) phase of alane change may begin once the autonomous vehicle determines that a safelane change can be executed and the autonomous vehicle may signal theintention to change lanes. During the first phase, the autonomousvehicle may remain positioned within the first lane (e.g., acurrent/original lane). During the second (movement or transition) phaseof the lane change, the autonomous vehicle moves out of the first laneand at least partially crosses a lane boundary between first and secondlanes as it begins to move into the second lane (e.g., anadjacent/target lane). During the third phase of the lane change, theautonomous vehicle has completely moved into the second lane andproceeds within the boundaries of the target lane.

During a lane change maneuver, a scenario generator in accordance with amotion planning system can be configured to perform certain steps andfunctions in different phases. For example, in some implementations, adifferent multi-dimensional space (e.g., a path time space) can bedetermined for each phase of a plurality of different phases of a lanechange maneuver associated with at least first and second lanes of anominal path for an autonomous vehicle. In some implementations, theplurality of different phases of the lane change maneuver can include afirst phase when the autonomous vehicle operates within boundaries ofthe first lane, a second phase when the autonomous vehicle has partiallycrossed a lane boundary between the first lane and the second lane andis in transition from the first lane into the second lane, and a thirdphase when the autonomous vehicle has completely moved into the secondlane and operates within boundaries of the second lane.

For each different phase of the lane change maneuver, the scenariogenerator can be configured to implement respective steps. Moreparticularly, in one implementation, for each different phase of thelane change maneuver, a scenario generator can be configured todetermine one or more objects of interest having a predetermined mannerof interaction with the first and second lanes of the nominal pathduring the phase. The scenario generator can be further configured togenerate a constraint for each of the one or more Objects of interest.Each constraint can identify a constraint area along the nominal paththat the autonomous vehicle cannot occupy during the phase of the lanechange maneuver. The scenario generator can be further configured todetermine a portion of the multi-dimensional space includingcorresponding constraints that applies to a respective timeframeassociated with the phase.

In accordance with the lane change representation, the respectiveportions of the multi-dimensional space including correspondingconstraints for each phase of the plurality of different phases of thelane change maneuver can be combined to generate a temporallymultiplexed space. For example, the temporally multiplexed space canhave a first portion corresponding to the first phase of the lanechange, a second portion corresponding to the second phase of the lanechange, and a third portion corresponding to the third phase of the lanechange. Each of these portions can be successively multiplexed acrossthe time dimension of the multi-dimensional space in which variousconstraints are defined. A set of navigation decisions can then bedetermined relative to the one or more objects of interest across thedifferent phases and corresponding timeframes of the multiplexed space.For example, a trajectory path can be determined through a portion ofthe multiplexed space that does not include the constraint areas. Aspreviously described, a set of navigation decisions can then beextracted from the trajectory path and provided to an optimizationplanner to generate a motion plan for controlling the AV.

According to another aspect of the present disclosure, the autonomycomputing system can include or otherwise leverage one or moremachine-learned models as part of the motion planning system. Forexample, in some implementations, one or more of the object classifier,blocking classifier, side classifier, or the like can include orotherwise employ a machine-learned model. The following descriptionrefers to use of a machine-learned model for the blocking classifier,although it should be appreciated that similar techniques can beemployed for other classifiers or motion planning components describedherein. In addition, it should be appreciated that in someimplementations, the object classifier, blocking classifier, sideclassifier and/or other components can employ one or more hard-codedrules and/or heuristics instead of machine-learned models) to determineobject features, classifications, etc.

For example, a machine-learned blocking classifier model can be includedin and/or employed by the motion planning system (e.g., included inand/or employed by the scenario generator described above). Themachine-learned blocking classifier model can be trained or otherwiseconfigured to receive and process feature data descriptive of objectsperceived by the autonomous vehicle and/or the surrounding environmentand, in response to receipt of the feature data, provide a blockingdecision for the object (e.g., data indicative of whether the objectshould be classified as a blocking object or a non-blocking object).

According to another aspect of the present disclosure, the autonomycomputing system can determine a blocking decision for each object ofinterest based at least in part on the feature(s) associated with anobject. To do so, the autonomous vehicle can include, employ, and/orotherwise leverage the machine-learned blocking classifier model. Forexample, the machine-learned blocking classifier model can be or canotherwise include one or more various model(s) such as, for example,decision tree-based models (e.g., random forest models such as boostedrandom forest classifiers), neural networks (e.g., deep neuralnetworks), or other multi-layer non-linear models. Neural networks caninclude recurrent neural networks (e.g., long short-term memoryrecurrent neural networks), feed-forward neural networks, convolutionalneural networks, and/or other forms of neural networks.

According to another aspect of the present disclosure, supervisedtraining techniques can be performed to train the model to determine ablocking decision based at least in part on the feature(s) associatedwith an object. For example, the machine-learned blocking classifiermodel can be trained based at least in part on driving log dataannotated with blocking labels. The log data can include objects ofinterest that were perceived by an AV during real-world and/or simulatedoperation of the AV and a blocking label identifying objects of interestas blocking objects or non-blocking objects. As one example, theblocking decisions for perceived objects of interest can behand-labelled as positive training examples or negative trainingexamples by a human reviewer. As another example, the blocking decisionscan be automatically scored using scoring functions indicative of how ahuman driver operated a vehicle or otherwise behaved relative to anobject of interest. For example, the scoring functions or otherlabelling rules can be derived from a data analysis of log data. In someimplementations, if the blocking decision receives a score that isgreater than a first threshold (or less than depending on scoring style)the blocking decision can be labelled as a positive training example;while if the blocking decision receives a score that is less than asecond threshold (or greater than depending on scoring style) theblocking decision can be labelled as a negative training example. Insome implementations, the first threshold and the second threshold canbe the same value. In sonic implementations, the first threshold and thesecond threshold can be different values and yield behaviors thatreceive scores between the first threshold and the second threshold cansimply be discarded. In some implementations, the scores provided forthe blocking decisions are included as labels to train the blockingclassifier model, in addition or alternatively to a simple positive ornegative label.

The systems, methods, and vehicles described herein may provide a numberof technical effects and benefits. For instance, the vehicle computingsystem can locally (e.g., on-board the vehicle) detect an object,evaluate its features (e.g., speed, location, path) relative to thevehicle and/or the surroundings, and determine a motion plan of thevehicle accordingly. By performing such an operation on-board theautonomous vehicle, the vehicle computing system can avoid the latencyissues that arise by communicating with a remote computing system. Thevehicle computing system can be configured to continuously perform thisiterative optimization process as the vehicle travels and differentobjects become proximate to the autonomous vehicle. As such, the vehiclecomputing system can proactively control the motion of the autonomousvehicle to avoid sudden movements that place stress on the vehicle'ssystems and confuse or frighten users (e.g., passengers of the vehicle).Moreover, the autonomous vehicle can operate in a manner that is saferfor the objects in the vehicle's surroundings.

The systems, methods, and vehicles described herein also provide aframework for determining a set of navigation decisions that areconsistent across multiple constraints that can be simultaneouslyrepresented within a multi-dimensional space. Because of the uniquemanner in which multiple constraints can be represented inmulti-dimensional space, situations can be avoided whereby a givenclassifier in a scenario generator could potentially generate anavigation decision that conflicts with a separate classifier. Inparticular, a framework is provided by which AV behavior relative toobjects of interest, fixed locations on a map, and/or speed limitationscan all be simultaneously represented in a single computationalframework. This allows trajectory paths (as well as a related set ofnavigation decisions and resultant motion planning space) to bedetermined that account for multiple dynamically shifting factors thatmay arise during AV navigation.

The systems, methods, and vehicles described herein also provide animprovement to vehicle computing technology, such as autonomous vehiclecomputing technology. For instance, aspects of the present disclosureenable a vehicle computing system to more efficiently and accuratelycontrol the vehicle's motion. For example, the systems and methods ofthe present disclosure can allow one or more computing devices on-boardan autonomous vehicle to determine a scenario and motion plan for theautonomous vehicle based at least in part on one or more machine-learnedclassifier models (e.g., an object classifier, blocking classifier,etc.). By utilizing the machine-learned model(s), the autonomous vehiclecan avoid the use of a rules-based determination system, which can beless effective and flexible for object classification and scenariogeneration. Moreover, the machine-learned model(s) can be more easilyadjusted (e.g., via refinement training) than a rules-based system(e.g., requiring re-written rules or manually tuned parameters) as thevehicle computing system is periodically updated to handle newscenarios. This can allow for more efficient upgrading of the vehiclecomputing system, leading to less vehicle downtime.

The disclosed systems, methods and vehicles have a technical effect andbenefit of improved scalability by using one or more machine-learnedmodels to classify object-lane interaction, blocking, etc. Inparticular, modeling feature data and determining appropriate objectclassifications through machine-learned models greatly reduces theresearch time needed relative to development of hand-crafted yielddecision rules. For example, for hand-crafted object classificationrules, a designer would need to exhaustively derive heuristic models ofhow different vehicles would need to classify objects in differentscenarios. It can be difficult to create hand-crafted rules thateffectively address all possible scenarios that an autonomous vehiclemay encounter relative to detected objects. In addition, hand-craftedrules for determining classifications relative to objects may not easilyscale from one location to another. For instance, how a vehicle shouldbehave around pedestrians may be different in Pittsburgh, Pa. as opposedto New York City, N.Y. or in the United States versus another country.As such, it can be difficult to create effective hand-crafted rules, andeven more so to create different sets of hand-crafted rules fordifferent locations. By contrast, to use machine-learned models asdescribed herein, machine-learned models can be trained on appropriatetraining data, which can be done at a massive scale if the trainingsystem permits. In addition, the machine-learned models can easily berevised as new training data is made available. As such, use of amachine-learned model trained on driving logs specific to a particularlocation can provide a scalable and customizable solution.

The disclosed systems, methods and vehicles have an additional technicaleffect and benefit of improved adaptability and opportunity to realizeimprovements in related autonomy systems. An autonomy system can includenumerous different subsystems (e.g., perception, prediction, motionplanning, etc. that jointly operate to determine a vehicle's motionplan. As technology improvements to one subsystem are introduced,machine-learned models in the motion planning system can capitalize onthose improvements to create a further refined and more accuratedetermination of object classifications, generated scenarios and/ormotion plans relative to objects, for example, by simply retraining theexisting model on new training data captured by the improved autonomysubsystems. Thus, obtaining object classifications, generated scenariosand/or motion plans based on newly available data types may be moreeasily achievable by a machine-learned yield model as opposed tohand-crafted algorithms.

With reference now to the Figures, example embodiments of the presentdisclosure will be discussed in further detail.

FIG. 1 depicts a block diagram of an example autonomous vehicle 10according to example embodiments of the present disclosure. Theautonomous vehicle 10 is capable of sensing its environment andnavigating without human input. The autonomous vehicle 10 can be aground-based autonomous vehicle (e.g., car, truck, bus, etc.). anair-based autonomous vehicle (e.g., airplane, drone, helicopter, orother aircraft), or other types of vehicles (e.g., watercraft,rail-based vehicles, etc.).

The autonomous vehicle 10 includes one or more sensors 101, an autonomycomputing system 102, and one or more vehicle controls 107. The autonomycomputing system 102 can assist in controlling the autonomous vehicle10. In particular, the autonomy computing system 102 can receive sensordata from the one or more sensors 101, attempt to comprehend thesurrounding environment by performing various processing techniques ondata collected by the sensors 101, and generate an appropriate motionplan through such surrounding environment. The autonomy computing system102 can control the one or more vehicle controls 107 to operate theautonomous vehicle 10 according to the motion plan.

As illustrated in FIG. 1, the autonomy computing system 102 can includea perception system 103, a prediction system 104, and a motion planningsystem 105 that cooperate to perceive the surrounding environment of theautonomous vehicle 10 and determine a motion plan for controlling themotion of the autonomous vehicle 10 accordingly.

In particular, in some implementations, the perception system 103 canreceive sensor data from the one or more sensors 101 that are coupled toor otherwise included within the autonomous vehicle 10. As examples, theone or more sensors 101 can include a Light Detection and Ranging(LIDAR) system, a Radio Detection and Ranging (RADAR) system, one ormore cameras (e.g., visible spectrum cameras, infrared cameras, etc.),and/or other sensors. The sensor data can include information thatdescribes the location of objects within the surrounding environment ofthe autonomous vehicle 10.

As one example, for a LIDAR system, the sensor data can include thelocation (e.g., in three-dimensional space relative to the LIDAR system)of a number of points that correspond to objects that have reflected aranging laser. For example, a LIDAR system can measure distances bymeasuring the Time of Flight (TOF) that it takes a short laser pulse totravel from the sensor to an object and back, calculating the distancefrom the known speed of light.

As another example, for a RADAR, system, the sensor data can include thelocation (e.g., in three-dimensional space relative to the RADAR system)of a number of points that correspond to objects that have reflected aranging radio wave. For example, radio waves (e.g., pulsed orcontinuous) transmitted by the RADAR system can reflect off an objectand return to a receiver of the RADAR system, giving information aboutthe object's location and speed. Thus, a RADAR system can provide usefulinformation about the current speed of an object.

As yet another example, for one or more cameras, various processingtechniques (e.g., range imaging techniques such as, for example,structure from motion, structured light, stereo triangulation, and/orother techniques) can be performed to identify the location (e.g., inthree-dimensional space relative to the one or more cameras) of a numberof points that correspond to objects that are depicted in imagerycaptured by the one or more cameras. Other sensor systems can identifythe location of points that correspond to objects as well.

As another example, the one or more sensors 101 can include apositioning system. The positioning system can determine a currentposition of the vehicle 10. The positioning system can be any device orcircuitry for analyzing the position of the vehicle 10. For example, thepositioning system can determine position by using one or more ofinertial sensors, a satellite positioning system, based on IP address,by using triangulation and/or proximity to network access points orother network components (e.g., cellular towers, WiFi access points,etc.) and/or other suitable techniques. The position of the vehicle 10can be used by various systems of the autonomy computing system 102.

Thus, the one or more sensors 101 can be used to collect sensor datathat includes information that describes the location (e.g., inthree-dimensional space relative to the autonomous vehicle 10) of pointsthat correspond to objects within the surrounding environment of theautonomous vehicle 10.

In addition to the sensor data, the perception system 103 can retrieveor otherwise obtain map data 118 that provides detailed informationabout the surrounding environment of the autonomous vehicle 10. The mapdata 118 can provide information regarding the identity and location ofdifferent travelways (e.g., roadways), road segments, buildings, orother items or objects (e.g., lampposts, crosswalks, curbing, etc.); thelocation and directions of traffic lanes (e.g., the location anddirection of a parking lane, a turning lane, a bicycle lane, or otherlanes within a particular roadway or other travelway); traffic controldata (e.g., the location and instructions of signage, traffic lights, orother traffic control devices); and/or any other map data that providesinformation that assists the autonomy computing system 102 incomprehending and perceiving its surrounding environment and itsrelationship thereto.

The perception system 103 can identify one or more objects that areproximate to the autonomous vehicle 10 based on sensor data receivedfrom the one or more sensors 101 and/or the map data 118. In particular,in some implementations, the perception system 103 can determine, foreach object, state data that describes a current state of such object.As examples, the state data for each object can describe an estimate ofthe object's current location (also referred to as position); currentspeed (also referred to as velocity); current acceleration; currentheading; current orientation; size/footprint (e.g., as represented by abounding shape such as a bounding polygon or polyhedron); class (e.g.,vehicle versus pedestrian versus bicycle versus other); yaw rate; and/orother state information.

In some implementations, the perception system 103 can determine statedata for each object over a number of iterations. In particular, theperception system 103 can update the state data for each object at eachiteration. Thus, the perception system 103 can detect and track objects(e.g., vehicles) that are proximate to the autonomous vehicle 10 overtime.

The prediction system 104 can receive the state data from the perceptionsystem 103 and predict one or more future locations for each objectbased on such state data. For example, the prediction system 104 canpredict where each object will be located within the next 5 seconds, 10seconds, 20 seconds, etc. As one example, an object can be predicted toadhere to its current trajectory according to its current speed. Asanother example, other, more sophisticated prediction techniques ormodeling can be used.

The motion planning system 105 can determine a motion plan for theautonomous vehicle 10 based at least in part on the predicted one ormore future locations for the object and/or the state data for theobject provided by the perception system 103. Stated differently, giveninformation about the current locations of proximate objects and/orpredicted future locations of proximate objects, the motion planningsystem 105 can determine a motion plan for the autonomous vehicle 10that best navigates the autonomous vehicle 10 relative to the objects attheir current and/or future locations. As one example, the motionplanning system 105 can generate a planned trajectory (e.g., a motionplan) for the autonomous vehicle 10.

As an example, in some implementations, the motion planning system 105operates to generate a new autonomous motion plan for the autonomousvehicle 10 multiple times per second. Each new autonomous motion plancan describe motion of the autonomous vehicle 10 over a planning windowthat spans the next several seconds (e.g., 5 seconds). Thus, in someexample implementations, the motion planning system 105 continuouslyoperates to revise or otherwise generate a short-term motion plan basedon the currently available data.

In particular, according to an aspect of the present disclosure, themotion planning system 105 can evaluate one or more cost functions foreach of one or more candidate motion plans for the autonomous vehicle10. For example, the cost function(s) can describe a cost (e.g., overtime) of adhering to a particular candidate motion plan and/or describea reward for adhering to the particular candidate motion plan. Forexample, the reward can be of opposite sign to the cost.

More particularly, to evaluate the one or more cost functions, themotion planning system 105 can determine a plurality of features thatare within a feature space. For example, the status of each feature canbe derived from the state of the vehicle and/or the respective states ofother objects or aspects of the surrounding environment.

The motion planning system 105 can determine the plurality of featuresfor each vehicle state included in the current candidate motion plan.The motion planning system 105 can determine the plurality of featuresfor each vehicle state included in the candidate motion plan.

The motion planning system 105 can evaluate one or more cost functionsbased on the determined features. For example, in some implementations,the one or more cost functions can include a respective linear cost foreach feature at each state.

The motion planning system 105 can iteratively optimize the one or morecost functions to minimize a total cost associated with the candidatemotion plan. For example, the motion planning system 105 can include anoptimization planner that iteratively optimizes the one or more costfunctions.

Following optimization, the motion planning system 105 can provide theoptimal motion plan to a vehicle controller 106 that controls one ormore vehicle controls 107 (e.g., actuators or other devices that controlgas flow, steering, braking, etc.) to execute the optimal motion plan.

Each of the perception system 103, the prediction system 104, the motionplanning system 105, and the vehicle controller 106 can include computerlogic utilized to provide desired functionality. In someimplementations, each of the perception system 103, the predictionsystem 104, the motion planning system 105, and the vehicle controller106 can be implemented in hardware, firmware, and/or softwarecontrolling a one or more suitable processing devices. For example, insome implementations, each of the perception system 103, the predictionsystem 104, the motion planning system 105, and the vehicle controller106 includes program files stored on a storage device, loaded into amemory and executed by one or more processors. In other implementations,each of the perception system 103, the prediction system 104, the motionplanning system 105, and the vehicle controller 106 includes one or moresets of computer-executable instructions that are stored in a tangiblecomputer-readable storage medium such as RAM hard disk or optical ormagnetic media.

FIG. 2 depicts a block diagram of an example motion planning system 105according to example embodiments of the present disclosure. The examplemotion planning system 105 includes a world state generator 204, ascenario generator 206, and an optimization planner 208.

The world state generator 204 can receive information from theprediction system 104, the map data 118, and/or other information suchas vehicle pose, a current route, or other information. The world stategenerator 204 can synthesize all received information to produce a worldstate that describes the state of all objects in and other aspects ofthe surrounding environment of the autonomous vehicle (e.g., autonomousvehicle 10) at each time step.

The scenario generator 206 can generate constraints as part ofdetermining a motion plan for an autonomous vehicle (e.g., autonomousvehicle 10). In particular, scenario generator 206 within motionplanning system 105 can generate constraints based on where objects ofinterest are predicted to be relative to an autonomous vehicle, such asindicated by world state generator 204. A constraint solver withinscenario generator 206 can identify navigation decisions for each of theconstraints that provide a consistent solution across all constraints.The solution provided by the constraint solver can be in the form of atrajectory path determined relative to constraint areas for all objectsof interest. The trajectory path represents a set of navigationdecisions such that a navigation decision relative to one constraintdoesn't sacrifice an ability to satisfy a different navigation decisionrelative to one or more other constraints. The set of navigationdecisions can then be used by optimization planner 208 within motionplanning system 105 to search over a motion planning space to identify amotion plan that optimizes a total cost associated with the motion plan.More particular details associated with one example implementation ofscenario generator 206 are depicted relative to FIG. 4.

The optimization planner 208 can be configured to iteratively searchover a motion planning space to identify a motion plan that optimizes(e.g., locally optimizes) a total cost associated with the motion plan,as provided by one or more cost functions. For example, the motion plancan include a series of vehicle states and/or a series of controls toachieve the series of vehicle states. A vehicle state can include theautonomous vehicle's current location (also referred to as position);current speed (also referred to as velocity); current acceleration,current heading; current orientation; and/or other state information. Asan example, in some implementations, the optimization planner 208 can beor include an iterative linear quadratic regulator or similar iterativesolver. More particular details associated with one exampleimplementation of optimization planner 208 are depicted relative to FIG,3.

Once the optimization planner 208 has identified the optimal motion plan(or some other iterative break occurs), the optimal motion plan can beselected and executed by the autonomous vehicle. For example, the motionplanning system 2150 can provide the selected motion plan to a vehiclecontroller 210 that controls one or more vehicle controls (e.g.,actuators that control gas flow, steering, braking, etc.) to execute theselected motion plan until the next motion plan is generated.

Each of the world state generator 204, scenario generator 206, andoptimization planner 208, and penalty/reward generator 302 can includecomputer logic utilized to provide desired functionality. In sonicimplementations, each of world state generator 204, scenario generator206, and optimization planner 208 can be implemented in hardware,firmware, and/or software controlling one or more suitable processingdevices. For example, in some implementations, each of world stategenerator 204, scenario generator 206, and optimization planner 208includes program files stored on a storage device, loaded into a memoryand executed by one or more processors. In other implementations, eachof world state generator 204, scenario generator 206, and optimizationplanner 208 includes one or more sets of computer-executableinstructions that are stored in a tangible computer-readable storagemedium such as RAM hard disk or optical or magnetic media.

FIG. 3 depicts a block diagram of an example optimization planner 208according to example embodiments of the present disclosure. In someimplementations, optimization planner 208 can correspond to optimizationplanner 208 of FIG, 2. As described above, the optimization planner 208can iteratively search over a motion planning space (e.g., a motionplanning space identified by constraint generator 206 of FIG. 2) toidentify a motion plan that optimizes locally optimizes) a total costassociated with the motion plan. In particular, the example optimizationplanner 208 can implement an optimizer 308 to optimize the total cost.The optimizer 308 can be or include a solver (e.g., an iterative solver)or other optimization tool that is able to optimize the total cost. Insome implementations, the optimizer 308 is an iterative linear quadraticregulator.

According to an aspect of the present disclosure, the total cost can bebased at least in part on one or more cost functions 304. In one exampleimplementation, the total cost equals the sum of all costs minus the sumof all rewards and the optimization planner attempts to minimize thetotal cost. The cost functions 304 can be evaluated by a penalty/rewardgenerator 302.

In some implementations, different cost function(s) 304 can be useddepending upon a particular trajectory path and/or associated set ofnavigation decisions represented by the trajectory path as determined byscenario generator 206. The set of navigation decisions can then be usedby optimization planner 208 within motion planning system 150 to searchover a motion planning space to identify a motion plan that optimizes atotal cost associated with the motion plan. Different sets of one ormore cost functions 304 can correspond to the different navigationdecisions determined by the scenario generator and penalty/rewardgenerator 302 can load the cost function(s) 304 corresponding to theselected navigation decision(s) at each instance of motion planning.

In other implementations, the same cost function(s) 304 can be used ateach instance of motion planning (e.g., no particular scenarios areused). In some implementations, the optimization planner 208 does notinclude the penalty/reward generator 302.

To provide an example cost function 304 for the purpose of illustration:a first example cost function can provide a first cost that isnegatively correlated to a magnitude of a first distance from theautonomous vehicle to a proximate object of interest. Thus, if acandidate motion plan approaches a proximate object of interest, thefirst cost increases, thereby discouraging (e.g., through increased costpenalization) the autonomous vehicle from selecting motion plans thatcome undesirably close to the object. This first example cost functionis provided only as an example cost function to illustrate the principleof cost. The first cost function is not required to implement thepresent disclosure. Many other and different cost functions 304 can beemployed in addition or alternatively to the first cost functiondescribed above.

Furthermore, in some implementations, the cost function(s) 304 caninclude a portion that provides a reward rather than a cost. Forexample, the reward can be of opposite sign to cost(s) provided by otherportion(s) of the cost function. Example rewards can be provided fordistance traveled, velocity, or other forms of progressing towardcompletion of a route.

Each of the penalty/reward generator 302 and optimizer 308 can includecomputer logic utilized to provide desired functionality. In someimplementations, each of penalty/reward generator 302 and optimizer 308can be implemented in hardware, firmware, and/or software controlling ageneral purpose processor. For example, in some implementations, each ofpenalty/reward generator 302 and optimizer 308 includes program filesstored on a storage device, loaded into a memory and executed by one ormore processors. In other implementations, each of penalty/rewardgenerator 302 and optimizer 308 includes one or more sets ofcomputer-executable instructions that are stored in a tangiblecomputer-readable storage medium such as RAM hard disk or optical ormagnetic media.

FIG. 4 depicts a block diagram of more particular aspects of an examplescenario generator 206 according to example embodiments of the presentdisclosure. In general, scenario generator 206 can be configured to makediscrete decisions regarding control of an autonomous vehicle (e.g.,autonomous vehicle 10) according to different driving scenarios. In someimplementations, scenario generator 206 can include an object classifier400, a constraint generator 410, a constraint solver 420, and a decisionextractor 430. The output of the scenario generator 206 can correspondto a set of navigation decisions 435 that are determined relative toperceived objects and corresponding constraints. The set of navigationdecisions 435 can be communicated to the optimization planner 208, whichcan determine a motion plan optimized over a motion planning spacedefined by the set of navigation decisions 435.

More particularly, the object classifier 400 can include an object-laneinteraction system 402 that determines one or more objects of interestvehicles, pedestrians, bicycles, etc.) that are interacting with a lanesequence (e.g., a lane sequence that an autonomous vehicle can followwithout changing lanes) associated with a nominal path for an autonomousvehicle. In some implementations, an object classifier 400 can moreparticularly include a blocking classifier 404, a yield zone generator406, and a side classifier 408 (as illustrated in FIG. 14).

In some implementations, objects of interest can be identified andanalyzed by object classifier 400 relative to one or more nominal pathsassociated with an autonomous vehicle. A nominal path, for example, maycorrespond to a predetermined potential path for an autonomous vehicle.As an example, in some instances, nominal paths can generally correspondto common patterns of vehicle travel along one or more lanes (e.g.,lanes on a roadway or other travelway). As one example, a nominal pathcan generally describe a path by which a vehicle or other object maycontinue according to its current lane; merge from its current lane intoan adjacent lane; turn from the current lane into an adjacent roadportion; or other pathways that correspond to other driving actions. Insome implementations, nominal paths can be defined relative to map dataassociated with various roadways, road portions or segments, lanes, orthe like. For example, nominal paths can be defined as a center line orother line parallel or in some predetermined relationship relative tosuch roadways, road portions or segments, lanes, or the like.

More particularly, an object classifier 400 can make determinationsbased on world state data determined by an autonomy computing system(e.g., by world state generator 204). For example, the world stategenerator 204 can determine one or more features associated with anobject and/or the surrounding environment. For example, the features canbe determined based at least in part on the state data associated withthe object. In some implementations, the world state generator 204 candetermine the feature(s) based at least in part on other information,such as the acquired map data (e.g., map data 118). The feature(s) canbe indicative of the movement (or lack thereof) and/or position of theobject relative to items within the vehicle's surroundings and/or otherinformation associated with the object. For example, the feature(s) caninclude a location of the object relative to a travel way (e.g.,relative to the left or right lane markings), a location of the objectrelative to the autonomous vehicle (e.g., a distance between the currentlocations of the vehicle and the object), one or more characteristic(s)of the object relative to a travel route associated with the autonomousvehicle (e.g., whether the object is moving parallel, towards, or awayfrom the vehicle's current/future travel route or a predicted point ofintersection with the vehicle's travel route), etc. In someimplementations, the feature(s) determined for a particular object maydepend at least in part on the class of that object. For example, thepredicted path for a vehicle or bicycle traveling on a roadway may bedifferent than that associated with a pedestrian traveling on asidewalk. World state data that includes features associated with one ormore objects of interest can also be referred to as feature data.

More particularly, in some implementations, an object classifier 400(e.g., via object-lane interaction system 402) can be configured todetermine how an object of interest is interacting with a given lane. Insome implementations, objects of interest can be categorized accordingto one or more of a predetermined set of interaction modes, such asdepicted in FIGS. 5A-5E, respectively. Example interaction modes cancorrespond, for instance, to tracking (e.g., tracking with an AV in agiven lane), crossing (e.g., crossing in front of an AV in a givenlane), entering (e.g., entering a given lane currently occupied by anAV), exiting (e.g., exiting a given lane currently occupied by an AV),oncoming (e.g., heading towards an AV in a given lane), parked (e.g.,parked in a given lane occupied by an AV), etc.

In some implementations, an object classifier 400 (e.g., via sideclassifier 408 as depicted in FIG. 14) can be configured to determine aside of a nominal path for the AV for each object. In someimplementations a side classifier 408 can be configured to determine aside of a nominal path for the AV for each object considered to benon-blocking or otherwise not contributing to a yield zone. For example,side classifier 408 can determine a parked vehicle to be on the leftside of a given lane at a certain time period or a crossing pedestrianto be on the right side of a given lane at a certain time period.

More particularly, in some implementations, a blocking classifier 404associated with an object classifier 400 can be configured to determineone or more blocking objects based at least in part on a manner ofinteraction that an object of interest has with a given lane or lanesequence. In some implementations, an object of interest in a given lanecan be determined to be a blocking object relative to an AV operating inthe same given lane when the object of interest has a manner ofinteraction that provides insufficient spatial clearance and/or temporalclearance for the AV to pass the object within the lane. In someimplementations, an object of interest in a given lane can be determinedto be a blocking object relative to an AV operating in the same givenlane when the object of interest has a manner of interaction thatpositions the object either ahead of or behind the AV and moving withthe flow of traffic.

In some implementations, a blocking classifier 404 can analyze featuredata associated with objects of interest to determine one or moreblocking objects. In some implementations, blocking classifier 404 cananalyze feature data associated with objects of interest using one ormore hard-coded rules and/or heuristics to classify each object as ablocking object or a non-blocking object. In some implementations, theblocking classifier 404 can include or otherwise access amachine-learned blocking classifier model that is trained to determinefrom feature data associated with an object whether to classify theobject as a blocking object or a non-blocking object. In someimplementations, feature data descriptive of an object (e.g., a firstobject) perceived by an autonomous vehicle can be obtained. The featuredata can be provided as input to the machine-learned blocking classifiermodel, and in response, a blocking decision can be received as output ofthe machine-learned blocking classifier model. The blocking decision candescribe the object (e.g., the first object) as a blocking object or anon-blocking object.

When an object of interest is determined by blocking classifier 404 tobe a blocking object, a constraint can be generated (e.g., by constraintgenerator 410) for that object that requires the AV to be ahead orbehind the predicted object at one or more given times. In other words,a constraint associated with a blocking object prevents an AV from beingat the same longitudinal distance and time as the object within a givenlane regardless of how far the AV shifts in the lateral direction withinthe lane. When a constraint for a blocking object is generated in amulti-dimensional space such as the path time space embodiment describedrelative to FIG. 8, a constraint area completely encompasses a lateralswath of the multi-dimensional space corresponding to a start and stopdistance for all times that the object is blocking in a given timespanalong the time dimension.

More particularly, in some implementations, a yield zone generator 406within an object classifier 400 can be configured to determine one ormore yield zones. In some implementations, yield zones can be defined asa spatial and temporal region that an AV cannot occupy. For example, ayield zone can be defined for intersections such as, but not limited totraffic lights, stop signs, crosswalks, etc. In another example, yieldzones can be defined relative to objects of interest that are consideredto be crossing actors relative to an AV (e.g., another vehicle making anunprotected left in front of the AV, a jaywalker, another vehicleturning across the AV's current lane, etc.). When crossing actors areidentified, the yield zone generator 406 can thus determine a fixed area(e.g., a fixed area defined relative to a map) for ensuring that theautonomous vehicle does not stop in the area where it perceives actorsto be crossing.

In some implementations, a constraint generator 410 is configured togenerate a constraint for each of the one or more objects of interestdetermined by the object classifier 400 (e.g., blocking objects, yieldzones, etc.). Each constraint can be associated with a correspondingconstraint area defined relative to a multi-dimensional space. In someimplementations, the multi-dimensional space (e.g., a path time (PT)space) comprises at least a time dimension and a distance dimensionrelative to travel along the nominal path. Generally, each constraintarea can identify regions along the nominal path that an autonomousvehicle cannot occupy at certain times.

In some implementations, each constraint area associated with aconstraint generated by constraint generator 410 can be defined by oneor more constraint sequences. Constraint sequences can be employed togenerate more complex (e.g., non-linear) shapes within themulti-dimensional space (e.g., PT space). Such non-linear constraintareas can be representative of object motion/velocity that is dynamicinstead of constant within the PT space. For example, if a detectedobject (e.g., a vehicle) is accelerating in front of the AV in the samelane as the AV, a constraint associated with the detected object can bemodeled as a quadratic upward sweeping constraint in the PT space. Thismore complex constraint area can be approximated with a constraintsequence of linear constraints, where each successive linear constraintwithin the constraint sequence is sampled such that the samples aresequentially combined over a duration in time to generate the constraintsequence. In the example of the detected object accelerating within theAV lane, each linear constraint successively sampled to generate theconstraint sequence has a different (e.g., steeper) slope than the last.In some implementations, these successive linear constraints can besampled at a predetermined frequency (e.g. 1 Hz) for the duration oftime in which the detected object is blocking the lane. In someimplementations, each linear constraint that is successively sampled togenerate a constraint sequence can be defined by one or more of a starttime when the constraint begins, a stop time when the constraint ends, astart distance along the nominal path when the constraint begins, a stopdistance along the nominal path when the constraint ends, and/or amaximum velocity that an autonomous vehicle can travel through theconstraint area.

In some implementations, constraints can be generated by constraintgenerator 410 for the time dimension corresponding to a certain timeperiod (e.g. a ten second time period) that includes a plurality of timesteps (e.g., one second time intervals or less). In someimplementations, constraints are generated based on how objects areclassified according to each respective time step. For example, anobject can be considered a blocking object during a first time step (t0,t1) but a non-blocking object during a second time step (t1, t2). Assuch, at each time step during a time period, an autonomy computingsystem can classify an object (e.g., by determining if the object is oris not blocking a lane) and generate a corresponding constraint based onthe classification.

In some implementations, the constraint generator 410 can be furtherconfigured to generate one or more buffer zones. A buffer zone can bedefined relative to a constraint to provide additional areas in themulti-dimensional space for having further clearance relative to anobject of interest. In some implementations, a buffer zone associatedwith a given constraint corresponds to an area within multi-dimensionalspace that surrounds at least a portion of a constraint area within themulti-dimensional space. For example, a temporal buffer zone can begenerated that has a start time that is before the start time of anassociated constraint and/or a stop time that is after the stop time ofthe associated constraint. A spatial buffer zone can be generated thathas as start distance that is before the start distance of an associatedconstraint and/or a stop distance that is after the stop distance of theassociated constraint.

In some implementations, the constraint generator 410 can include one ormore speed regressors 416 configured to generate one or more speed zoneswithin the multi-dimensional space. A speed zone generated by speedregressor 416 can be defined as a constraint area withinmulti-dimensional space in which an AV can travel, but with limitationson AV travel speed. As such, constraint areas can be defined withinmulti-dimensional space that control how fast an AV travels relative tospecific areas in space and time (e.g., areas corresponding to otherobjects, areas corresponding to specific locations on a map, areasassociated with a particular maneuver of the AV at a given time, etc.)

In some implementations, the scenario generator 206 can be furtherconfigured to identify navigation decisions for each of the constraintsgenerated by the constraint generator 410 that provides a consistentsolution across all constraints. For example, a constraint solver 420can be configured to determine a low-cost trajectory path 425 thattraverses through the multi-dimensional space that does not include theconstraint areas. It should be appreciated that many different methodscan be utilized to determine the low-cost trajectory path 425. In oneexample implementation, a rollout method is employed whereby determininga low-cost trajectory path 425 through a portion of themulti-dimensional space that does not include the constraint areasincludes determining a set of candidate trajectory paths through themulti-dimensional space. A score for each candidate trajectory path inthe set of candidate trajectory paths can be generated, and a selectedtrajectory path can be determined based at least in part on the scoresfor each candidate trajectory path in the set of candidate trajectorypaths.

With more particular reference to determining a low-cost trajectory path425, the score generated for each candidate trajectory path can includeone or more scoring factors, including but not limited to costs,discounts and/or rewards associated with aspects of a candidatetrajectory path for use in evaluation of a cost function or otherscoring equation. Example scoring factors can include, for example, adynamics cost for given dynamics (e.g., jerk, acceleration) associatedwith the candidate trajectory path, a buffer cost associated withproximity of a candidate trajectory path to one or more constraintsand/or buffer zones within the multi-dimensional space, a constraintviolation cost associated with violating one or more constraints and/orbuffer zones, a reward or discount for one or more achieved performanceobjectives (e.g., a distance traveled reward for moving forward asopposed to not moving), a blind spot cost associated with a candidatetrajectory path that involves spending time in a blind spot of otheractors (e.g., other vehicles). The constraint solver 420 can beconfigured to determine the low-cost trajectory path 425 by determiningthe candidate trajectory path that has a lowest total cost (or highestreward) associated with the trajectory path.

In some implementations, the scenario generator 206 can be furtherconfigured to extract a set of navigation decisions 435 from thedetermined trajectory path 425. For example, a decision extractor 430can be configured to translate the trajectory path 425 into a set ofnavigation decisions 435 based at least in part on whether thetrajectory path 425 passes above or below each constraint areaassociated with an object of interest within the multi-dimensionalspace. More particularly, in some implementations, navigation decisionswithin the set of navigation decisions 435 can correspond to possibleactions (e.g., lead, follow, ignore, nudge, clear, yield, etc.) that anAV can take relative to an object of interest. In some implementations,the set of navigation decisions 435 relative to the one or more objectsof interest can include one or more of a navigation decision to lead orfollow an object of interest (e.g., another vehicle driving in a same oradjacent lane as an AV), and/or a navigation decision to yield or clearan object of interest (e.g., a pedestrian crossing the street), and/or anavigation decision to stop or go for a traffic light. In someimplementations, the scenario generator 206 can thus determinehigh-level decisions that correspond to or otherwise mimic human-levelunderstanding and decision making about the surrounding environment(e.g., whether to lead or follow a particular object or whether to yieldto or clear a particular object).

In some implementations, the decision extractor 430 can also beconfigured to prune a subset of constraints when a first portion ofnavigation decisions in the set of navigation decisions 435 renders thesubset of the constraints as no longer affecting a second portion ofnavigation decisions in the set of navigation decisions 435. Pruning canhelp advantageously reduce the number of data variables ultimatelyprovided from the scenario generator 206 to the optimization planner208, thus also reducing processing latency at the optimization planner208 within the motion planning system (e.g., motion planning system105).

Once such discrete decisions have been made, the optimization plannercan generate a trajectory (e.g., through local optimization over a setof appropriate cost functions) that executes or otherwise complies withthe decisions made by the scenario generator 206. More particularly, forexample, the set of navigation decisions 435 determined by the decisionextractor 430 can be sent to the optimization planner 208 within themotion planning system (e.g., motion planning system 105). As previouslydescribed, the optimization planner 208 searches over a motion planningspace to identify a motion plan that optimizes (e.g., locally optimizes)a total cost associated with the motion plan, as provided by one or morecost functions.

The motion planning space analyzed by the optimization planner 208 canbe defined at least in part by the set of navigation decisions 435determined by the scenario generator 206. As such, the optimizationplanner 208 can have a focused motion planning space that is consistentwith the trajectory path 425 determined by the scenario generator. Themotion plan determined by the optimization planner 208 can be optimizedrelative to multiple space dimensions (e.g., a lateral dimensionassociated with steering of the AV as well as a longitudinal dimensionassociated with braking/acceleration of the AV) for a given period oftime.

FIGS. 5A-5E depict respective graphical diagrams of example scenariosfor determining object-lane interaction according to example embodimentsof the present disclosure. For example, the different types ofobject-lane interaction depicted in FIGS. 5A-5E can be determined byobject classifier 400, particularly by an object-lane interaction system402 as depicted in FIG. 4.

FIG. 5A illustrates an example tracking object scenario 500 in which anautonomous vehicle (AV) 10 is traveling in a lane 502 and detectsanother vehicle 504 tracking with a similar heading as AV 10 in the samelane 502.

FIG. 5B illustrates an example crossing object scenario 510 in which anautonomous vehicle (AV) 10 is traveling in a lane 512 and detectsanother vehicle 514 that has a different heading than AV 10. Forinstance, vehicle 514 can be determined to be crossing the lane 512

FIG, 5C illustrates an example entering/exiting object scenario 520 inwhich an autonomous vehicle 10 is traveling in a lane 522 and detects anobject 524 (e.g., a pedestrian) entering the lane 522. Object 526 canadditionally or alternatively be detected as exiting lane 522. In someimplementations, object 526 can represent the same object 524 at adifferent instance in time. In other implementations, object 526 cancorrespond to a different object than object 524 such that one Object isentering lane 522 while the other object is exiting lane 522.

FIG. 5D illustrates an example oncoming object scenario 530 in which anautonomous vehicle (AV) 10 is traveling in a lane 532 and detectsanother vehicle 534 that has a different heading than AV 10. Forinstance, vehicle 534 can be determined to be traveling in an oncomingdirection relative to AV 10.

FIG. 5E illustrates an example parked object scenario 540 in which anautonomous vehicle (AV) 10 is traveling in a lane 542 and detectsanother vehicle 544 that is parked within lane 542.

FIGS. 6A-6D depict respective graphical diagrams of example scenariosfor determining blocking objects according to example embodiments of thepresent disclosure. For example, the different types of blockingdecisions/classifications depicted in FIGS. 6A-6D can be determined byobject classifier 400, particularly by a blocking classifier 404 asdepicted in FIG. 4. Blocking decisions can be representative, forexample, of a relationship between an object and a lane sequence of anautonomous vehicle at a current or predicted future time step. In otherwords, blocking decisions can help identify who has ownership of a givenlane at a one or more different time steps. When an object is determined(e.g., via object classifier 410 of FIG. 4) to be a blocking object,then a constraint corresponding to the blocking object can be generated(e.g., by constraint generator 410 of FIG, 4).

FIG. 6A illustrates an example blocking object scenario 600 in which anautonomous vehicle (AV) 10 is traveling in a lane 602 and detects aproximate object 604 (e.g., another vehicle). Object 604 is also locatedin the lane 602 that is occupied by the AV 10. In the example of FIG.6A, there is insufficient spatial clearance for AV 10 to pass object 604within lane 602. In other words, there is no way for AV 10 to go aroundobject 604 without leaving lane 602. As such, object 604 can bedetermined to be a blocking object.

FIG. 6B illustrates an example blocking object scenario 610 in which anautonomous vehicle (AV) 10 is traveling in a lane 612 and detects aproximate object 614 (e.g., another vehicle) traveling in a generallysame direction as AV 10. Object 614 is also located in the lane 612 thatis occupied by the AV 10. Compared with lane 602 of FIG. 6A, lane 612 ofFIG. 6B is much wider as is sometimes the case with wider roadsencountered during driving. In such an instance with a wide lane 612,there may be sufficient spatial clearance for AV 10 to pass object 614within lane 612. However, the AV 10 is not supposed to pass object 614within lane 612 because of driving conventions. Because AV 10 is notsupposed to pass object 614, object 614 can be determined to be ablocking object.

FIG. 6C illustrates an example blocking object scenario 620 in which anautonomous vehicle (AV) 10 is traveling in a lane 622 and detects aproximate object 624 (e.g., another vehicle) at time t. At time t, theremay be sufficient spatial clearance for AV 10 to continue past object624 while traveling in lane 622. However, object 624 can be a crossingobject such that object 624′ represents the same object 624 at a firstsubsequent time step t+1 and object 624″ represents the same object 624at a second subsequent time step t+2. At times t+1 and t+2, AV 10 wouldnot have sufficient spatial clearance to travel past object624/624′/624″ within lane 622. As such, object 624/624′/624″ can bedetermined to be a blocking object. As illustrated in FIG. 6C, it cansometimes be helpful to group multiple time steps for an object togetherin making a determination regarding whether to classify an object as ablocking object or a non-blocking object.

FIG. 6D illustrates an example non-blocking object scenario 630 in whichan autonomous vehicle (AV) 10 is traveling in a lane 632 and detects aproximate object 634 (e.g., another vehicle) that is parked within thesame lane 632 as AV 10. In such an instance, when a determination ismade that object 634 is not moving with traffic (e.g., because it isparked), blocking classifier can determine that AV 10 is supposed to goaround object 634. This determination coupled with the sufficientspatial clearance within lane 632 can result in object 634 beingclassified as a non-blocking object.

FIGS. 7A-7B depict respective graphical diagrams of example scenariosfor determining yield zones according to example embodiments of thepresent disclosure. For example, the different types of yield zonesdepicted in FIGS. 7A-7B can be determined by object classifier 400,particularly by yield zone generator 406 as depicted in FIG. 4. When ayield zone is determined (e.g., via object classifier 410 of FIG, 4),then a constraint corresponding to the yield zone can be generated(e.g., by constraint generator 410 of FIG. 4).

FIG. 7A illustrates an example scenario 700 in which an autonomousvehicle (AV) 10 is traveling in a lane 702. An object (e.g., apedestrian) can be detected at multiple successive time steps, asrepresented at 704a, 704b, 704c, and 704d, and determined to be crossinglane 702 in front of AV 10. In some implementations, the area 706 inwhich object 704a-d is crossing lane 702 can be identified (e.g., viamap data 118) as a crosswalk. In such instance, a yield zone andcorresponding constraint can be generated for area 706 corresponding tothe crosswalk. Such a yield zone can help prevent AV 10 from determininga motion plan that would result in AV 10 stopping within the crosswalkarea 706.

FIG. 7B illustrates an example scenario 720 in which an autonomousvehicle (AV) 10 is traveling in a lane 722. An object (e.g., a vehicle)724 can be detected as traveling in an oncoming direction relative to AV10 before turning to cross lane 722 at lane crossing area 726. In suchinstance, a yield zone and corresponding constraint can be generated forarea 726 corresponding to the area in which one or more vehicles aredetermined as making an unprotected left relative to AV 10. Such a yieldzone can help prevent AV 10 from determining a motion plan that wouldresult in AV 10 stopping within the lane crossing area 726 in whichother vehicles/objects than object 724 may also desire to cross lane722.

FIG. 8 depicts a graphical representation of an examplemulti-dimensional space for representing constraints according toexample embodiments of the present disclosure. More particularly, theleft portion of FIG. 8 represents an example scenario 810 in which anautonomous vehicle 10 is traveling within a lane 811. World state datagenerated relative to autonomous vehicle 10 can include feature datadescriptive of a first object 814 and a second object 816. Both firstobject 814 and second object 816 can be determined as having some sortof object-lane interaction with lane 811 which is occupied by AV 10. Forexample, first object 814 can be determined to be a tracking object(e.g., a vehicle traveling in the same lane 811 as AV 10 and havinggenerally the same heading as AV 10), while second object 816 can bedetermined to be a crossing object (e.g., a pedestrian crossing lane 811at one or more time steps that could interact with AV 10). Both firstobject 814 and second object 816 can be determined to be blockingobjects at certain times.

The right portion of FIG. 8 represents an example multi-dimensionalspace 830 including constraint areas 834 and 836 that correspond withconstraints generated for objects 814 and 816 respectively. Themulti-dimensional space 830 of FIG. 8 corresponds to a space defined bya first dimension 837 corresponding to the path of AV 10 and a seconddimension of 838 corresponding to time. More particularly, the firstdimension 837 can be depicted as a distance or odometer measurement(e.g., in meters) relative to travel by AV 10 along a nominal path. WhenAV 10 is represented as point 812, the location of point 812 along thefirst dimension 837 (e.g., path/distance) can help define theconstraints 834 and 836 relative to objects 814 and 816. The seconddimension 838 can be depicted as a measurement in time (e.g., inseconds). Although FIG. 8 depicts only a portion of time (e.g., time=0seconds until time=4 seconds), it should be appreciated that constraintscan be generated for other increments or durations of time within amulti-dimensional space. In the example of FIG. 8, multi-dimensionalspace 830 can be considered a path-time (PT) space.

In considering how to generate constraint area 834 for first object 814,consider that object 814 corresponds to a vehicle traveling at aconstant velocity ahead of AV 10 in the same lane 811 as AV 10. Based onthis determination, object 814 can be considered a blocking object andwill block for all time within the multi-dimensional space 830. As such,a constraint can be generated for object 814 that prevents AV 10 frombeing at the same longitudinal distance as object 814 within lane 811regardless of how far the AV 10 shifts in the lateral direction withinthe lane 811. When constraint area 834 is generated for object 814 inthe multi-dimensional space 830, constraint area 834 completelyencompasses a lateral swath of the multi-dimensional space 830corresponding to a start distance 820 and a stop distance 822 along thepath dimension for all times that the object is blocking (e.g., t=[0,4])in a given timespan along the time dimension. Because object 814 istraveling at a constant velocity, constraint area 834 is sloped upwardas time progresses from t=0 to t=4 to represent movement of the object814.

In considering how to generate constraint area 836 for second object816, consider that second object 816 corresponds to a pedestrian Bdetermined to be crossing lane 811 from right to left. Featuresdescribing the current state of second object 816 including a predictedtrajectory can be used to determine that object 816 is going to enterthe lane 811 at time t=1, at which point object 816 will be considered ablocking object. At time t=3, object 816 is predicted to exit lane 811and will no longer be blocking lane 811. As such, constraint area 836can be generated to represent the blocking object status of secondobject 816 between start time 824 (e.g., t=1) and stop time 826 (e.g.,t=3). Constraint area 836 effectively prevents AV 10 from beingpositioned between start distance 827 and stop distance 828 from starttime 824 (e.g., t=1) until stop time 826 (e.g., t=3).

For both constraint area 834 and constraint area 836, the start distanceand stop distance representing such constraints are buffered tocorrespond to a larger size than the actual distance of first object 814and second object 816. This is to account for the fact that AV 10 isrepresented as a point 812 along the dimension 837. To ensure that AV 10does not interfere with first object 814, the start distance 820associated with constraint area 834 is buffered to include an additionaldistance from the front bumper 817 of AV 10 to point 812 and stopdistance 822 is buffered to include an additional distance from point812 to the rear bumper 818 of AV 10. Similarly, to ensure that AV 10does not interfere with second object 816, the start distance 827associated with constraint area 836 is buffered to include an additionaldistance from the front bumper of AV 10 to point 812 and stop distance828 is buffered to include an additional stop distance from point 812 tothe rear bumper 818 of AV 10.

Referring still to FIG. 8, in some implementations, a constraintgenerator can be further configured to generate one or more bufferzones, such as buffer zone 840 defined relative to constraint area 836.Buffer zone 840 can provide an additional area in the multi-dimensionalspace 830 for having further clearance relative to object 816. In theexample of FIG. 8, buffer zone 840 associated with constraint 836corresponds to an area within multi-dimensional space 830 that surroundsat least a portion of constraint area 836 within the multi-dimensionalspace 830. For example, buffer zone 840 has a start time 841 that isbefore the start time 824 of constraint area 836. Buffer zone 840provides temporal buffering by having a stop time 842 that is after thestop time 826 of constraint area 836. Buffer zone 840 also providesspatial buffering by having a start distance 843 that is before thestart distance 827 of constraint area 836 and a stop distance 844 thatis after the stop distance 828 of constraint area 836.

FIG. 9 depicts a graphical representation of determining an exampletrajectory path according to example embodiments of the presentdisclosure. More particularly, FIG. 9 depicts an example trajectory path850 that is planned for travel by the AV 10 through themulti-dimensional space 830. Trajectory path 850 can be determined, forexample, by constraint solver 420 of FIG. 4.

Trajectory path 850 starts at point (0,0) in the multi-dimensional space830, corresponding to no distance traveled at time =0. The trajectorypath can be planned to end at any predetermined future time (e.g., 10seconds in the future), although FIG. 9 depicts a trajectory path 850determined for a future time of 4 seconds in the future. Trajectory path850 can be determined such that it optimizes a cost relative to theconstraint areas (e.g., constraint areas 834, 836) and buffer zones(e.g., buffer zone 840) generated within the multi-dimensional space830. For example, trajectory path 850 can be determined to be a low-costtrajectory path that minimizes exposure to constraint areas (e.g.,constraint areas 834, 836) and/or buffer zones (e.g., buffer zone 840)and satisfies a cost function or other scoring function relative tomultiple candidate trajectory paths. By determining a trajectory path850 that minimizes exposure to constraint areas and/or buffer zones, atrajectory path can be determined that provides a solution that isconsistent with all constraints and/or buffer zones generated within themulti-dimensional space. Because trajectory path 850 passes aboveconstraint area 836 and below constraint area 834, a set of navigationdecisions represented by trajectory path 850 would include a navigationdecision to clear object 816 (e.g., to pass beyond the location ofpedestrian B before time t=1) and a navigation decision to follow object814 (e.g., to follow behind object 814 within lane 811).

FIG. 10 depicts a graphical representation of example decisionextraction according to example embodiments of the present disclosure.More particularly, FIG. 10 depicts an example multi-dimensional space(e.g., PT space) 860 in which a first constraint area 862 and a secondconstraint area 864 corresponding to respective first and second objectsare generated. Depending on how a trajectory path is generated relativeto the constraints 862, 864, a different set of navigation decisions canbe extracted (e.g., by a decision extractor 430 such as depicted in FIG.4). In one example, trajectory path 865 passes above constraint area 862and below constraint area 864. A set of navigation decisionscorresponding to trajectory path 865 would include a first navigationdecision to clear the object associated with constraint area 862 and asecond navigation decision to follow the object associated withconstraint area 864. In another example, trajectory path 866 passesbelow constraint area 862 and below constraint area 864. A set ofnavigation decisions corresponding to trajectory path 866 would includea first navigation decision to yield to the object associated withconstraint area 862 and a second navigation decision to follow theobject associated with constraint area 864. In yet another example,trajectory path 867 passes below constraint area 862 and aboveconstraint area 864. A set of navigation decisions corresponding totrajectory path 867 would include a first navigation decision to yieldto the object associated with constraint area 862 and a secondnavigation decision to lead the object associated with constraint area864.

FIG. 11 depicts a graphical representation of an example lane changemaneuver 900 for an autonomous vehicle 10 according to exampleembodiments of the present disclosure. Although the disclosed technologycan be applied to other route maneuvers than lane changes, anahead-of-time lane change maneuver 900 is depicted as an exampleimplementation. In such example, lane-change maneuver 900 can bedescribed in a relatively well-defined manner as a combination of afirst stay lane route (SLR) 902 associated with a first lane and asecond SLR 904 associated with a second lane. Each SLR 902, 904 cancorrespond to a lane sequence that can be followed without changinglanes.

Example route maneuver 900 can include an ordered sequence of SLRs 902and 904 including metadata identifying when to occupy each set of SLRs902 and 904 and the spatial regions to occupy during each of thosetimes. For instance, route maneuver 900 can include data descriptive ofa first phase when the AV 10 operates within boundaries of a first lane(e.g. first SLR 902), such as AV operation before distance 908. Firstdistance 908 is associated with when the AV 10 has partially crossed alane boundary between the first lane (e.g., first SLR 902) and thesecond lane (e.g., second SLR 904) and is in transition from the firstlane into the second lane. Route maneuver 900 can also include datadescriptive of a second phase characterized as AV operation betweenfirst distance 908 and a second distance 910. Route maneuver 900 canalso include data descriptive of a third phase (e.g., starting atdistance 910) when the autonomous vehicle 10 has completely moved intothe second lane (e.g., SLR 904) and operates within boundaries of thesecond lane, such as AV operation after distance 910.

In some implementations, an example route maneuver 900 such as depictedin FIG, 11 can contain phase timings to allow the construction of asingle PT space per route maneuver. This can sometimes provideadvantages over combining multiple PT space search results togetherafter searching the space corresponding to each temporal phaseindependently.

FIGS. 12 and 13 depict a correlated example of multiple phases of avehicle lane change according to example embodiments of the presentdisclosure, and how such a lane change can be represented inmulti-dimensional space.

FIG. 12 depicts an example planned lane change maneuver scenario 920 inwhich an AV 10 is traveling in a first lane 921 and seeking totransition from the first lane 921 on the right to second lane 922 onthe left. A first object 923 (e.g., a parked truck) can be locatedwithin first lane 921, which may be the reason AV 10 desires to changelanes from first lane 921 to second lane 922. A second object 924corresponds to a vehicle traveling in second lane 922 that isapproaching the AV 10 on the left as it travels with a currently higherspeed than AV 10. A set of third objects corresponds to three cones 925that are placed between lanes 921 and 922.

FIG. 13 depicts respective sets of multi-dimensional spacerepresentations in accordance with example embodiments of the disclosedtechnology. For example, a first set of representations 930 correspondsto a multi-dimensional space that can be respectively determined foreach phase of a plurality of different phases (e.g., first, second, andthird phases) of lane change maneuver scenario 920 of FIG. 12. A secondset of representations 932 additionally includes a trajectory pathdetermined across all phases of the lane change maneuver. A third set ofrepresentations 934 depicts portions of each determinedmulti-dimensional space including corresponding constraints that applyto a respective timeframe associated with each phase. A fourthrepresentation 936 corresponds to a multiplexed space that combines therespective portions of the third set of representations 934 that applyfor each phase of the plurality of different phases.

Referring more particularly to FIG. 13, a first multi-dimensional space940 corresponding to a first phase of lane change maneuver scenario 920includes a first constraint area 942. First constraint area 942corresponds to first object 923 (e.g., the parked truck). Since firstobject 923 can be determined to be a blocking object, first constraintarea 942 crosses an entire lateral swath of the first multi-dimensionalspace 940 for all time.

A second multi-dimensional space 950 corresponding to a second phase oflane change maneuver scenario 920 includes a second constraint area 952and a third constraint area 954. Second constraint area 952 correspondsto the second object 924 of FIG. 12 (e.g., the vehicle approaching onthe left at a constant velocity greater than that of AV 10). Thirdconstraint area 954 corresponds to the stationary set of cones 925depicted in FIG. 12. Although not illustrated in FIG. 13, in someimplementations, the second multi-dimensional space 950 can additionallyinclude constraint areas associated with objects determined from thefirst phase (e.g., constraint area 942 associated with first object923).

A third multi-dimensional space 960 corresponding to a third phase oflane change maneuver scenario 920 includes a fourth constraint area 962.Fourth constraint area 962 in the third multi-dimensional space 960 issimilar to third constraint area 952 in the second multi-dimensionalspace 950, as both correspond to the second object 924 of FIG. 12 (e.g.,the vehicle approaching on the left at a constant velocity greater thanthe AV 10).

In the second set of representations 932, a trajectory path 945 isdepicted relative to each of the representations of multi-dimensionalspace 940, 950, and 960. Although trajectory path 945 does not touch anyconstraint areas in first multi-dimensional space 940, trajectory path945 does touch/interfere with constraint areas depicted within thesecond multi-dimensional space 950 and the third multi-dimensional space960.

To address the situation depicted in second set of representations 932,third set of representations 934 depicts portions of each determinedmulti-dimensional space 940, 950, 960 including correspondingconstraints that apply to a respective timeframe associated with eachphase. More particularly, a first portion 946 of multi-dimensional space940 is determined as corresponding to the first phase of lane changemaneuver scenario 920 of FIG. 12, while second portion 947 ofmulti-dimensional space 940 is determined as corresponding to the secondphase of lane change maneuver scenario 920 of FIG. 12, and a thirdportion 948 of multi-dimensional space 940 is determined ascorresponding to the third phase of lane change maneuver scenario 920 ofFIG. 12. Similarly, a first portion 956 of multi-dimensional space 950is determined as corresponding to the first phase of lane changemaneuver scenario 920 of FIG. 12, while second portion 957 ofmulti-dimensional space 950 is determined as corresponding to the secondphase of lane change maneuver scenario 920 of FIG. 12, and a thirdportion 958 of multi-dimensional space 950 is determined ascorresponding to the third phase of lane change maneuver scenario 920 ofFIG. 12. Still further, a first portion 966 of multi-dimensional space960 is determined as corresponding to the first phase of lane changemaneuver scenario 920 of FIG. 12, while second portion 967 ofmulti-dimensional space 960 is determined as corresponding to the secondphase of lane change maneuver scenario 920 of FIG. 12, and a thirdportion 968 of multi-dimensional space 960 is determined ascorresponding to the third phase of lane change maneuver scenario 920 ofFIG. 12,

The fourth representation 936 of FIG. 13 corresponds to a multiplexedmulti-dimensional space that combines respective portions of the thirdset of representations 934 that apply for each phase of the plurality ofdifferent phases of the lane change maneuver scenario. Moreparticularly, fourth representation 936 includes a first portion 946corresponding to the first phase of the lane change maneuver scenario, asecond portion 957 corresponding to the second phase of the lane changemaneuver scenario, and a third portion 968 corresponding to the thirdphase of the lane change maneuver scenario. These three portions 946,957, and 968 can be stitched together to generate the fourthrepresentation 936. When trajectory path 945 is considered relative tothe fourth representation 936, there is no interference betweentrajectory path 945 and the various constraint areas. A set ofnavigation decisions associated with trajectory path 945 inrepresentation 936 includes a decision to stay behind the first object923 (associated with constraint area 942), a decision to change lanesafter passing cones 925 (associated with constraint area 954), and adecision to change lanes after second object 924 passes such that the AV10 follows second object 924 (associated with constraint area 952).

FIG. 14 depicts a block diagram of an example scenario generator 206′for use with route maneuvers including multiple lanes, for instance,when changing lanes according to example embodiments of the presentdisclosure. Some components of scenario generator 206′ are similar tothose described relative to scenario generator 206 of FIG. 4, and likereference numerals are used to depict such elements. In scenariogenerator 206′ of FIG. 14, object classifier 400 is implemented once foreach sequence of successive lanes (e.g., SLRs) within a route maneuver.As such, the object-lane-interaction system 402, blocking classifier404, yield zone generator 406, and/or side classifier 408 can beseparately applied to each sequence of successive lanes. In someimplementations, all distances determined by object classifier 400 canbe determined relative to a start of each SLR or other predeterminedlane marker as opposed to AV position.

Referring still to FIG. 14, outputs of object classifier 400 can beprovided to one or more of a “Route Maneuver Generator” 980 and/or an“SLR to Maneuver Converter” 982. In some implementations, route maneuvergenerator 980 can be configured to receive any generated yield zonesthat help identify spatial and/or temporal regions that an AV cannotoccupy as well as states or other feature data associated with objectsof interests (e.g., as determined by world state generator). In someimplementations, such state data and/or feature data can be determinedalong a particular predicted trajectory at a specific time step. Basedon such information, route maneuver generator 980 can be furtherconfigured to determine a route maneuver. In some implementations, aroute maneuver can correspond to a vector representation that includes asequence of SLRs and corresponding lane change regions to occupy, eachof which links back to the associated SLRs. If the route maneuverdetermined by route maneuver generator 980 is a lane change, then routemaneuver generator 980 can also be configured to generate phase timinginformation regarding when to transition from one phase to the nextwithin the lane change sequence.

More particularly, in sonic implementations, route maneuver generator980 can pre-select a number of one or more possible route maneuvers downto a subset of all possibilities. For example, in a case of twoco-directed neighboring lanes with no nearby intersections, where the AVis currently staying in the lane, the expected output would be two routemaneuvers: one route maneuver would represent an SLR sequence forstaying in the lane while another route maneuver would represent amulti-SLR maneuver such as a lane change. SLR to maneuver converter 982can be configured to receive route maneuver data from route maneuvergenerator 980 and convert such data from an SLR perspective to amaneuver space defined at least by a distance/odometer dimension. Insome implementations, SLR to maneuver converter 982 can be implementedby one or more mapping functions. Constraints can then be generatedrelative to the route maneuver by, for example, one or more of thelead/follow constraint generator 412, the yield/clear constraintgenerator 414 and/or the speed regressor 416,

After constraints are generated, the constraints can be provided to aconstraint solver 984, PT path scoring system 986 and route selector988. In some examples, constraint solver 984 plans a set of feasibletrajectory paths through a multi-dimensional space (e.g., path-timespace) including the generated constraints associated with eachmaneuver. In one example implementation, constraint solver 984 employs arollout method whereby determining a trajectory path through a portionof the multi-dimensional space that minimizes exposure to the constraintareas includes determining a set of candidate trajectory paths throughthe multi-dimensional space. A score for each candidate trajectory pathin the set of candidate trajectory paths then can be generated by PTpath scoring system 986, resulting in the best trajectory for thatmaneuver being chosen. In some implementations, steps executed withinthe constraint generator block 990 are implemented once for eachpossible route maneuver identified by route maneuver generator 980. Theroute selector 988 can then pick the best maneuver based at least inpart on the score for each maneuver's best trajectory path (e.g., thelow-cost trajectory path)and the relative need of each maneuver (e.g.,the urgency to lane change now). As such, scenario generator 206′ ofFIG. 14 can be configured to implement a two-stage selection process.First, PT path scoring system 986 can determine a best trajectory path(e.g., a low-cost trajectory path) for each maneuver based in part onthe best score among candidate trajectory paths. Second, route selector988 can determine the best maneuver based on the score of its besttrajectory and on the relative preference of the maneuver type (e.g.,how urgent it is to change lanes). Distances and other dimensions forthe constraints can be expressed within the constraint generator blockwith respect to AV position.

In some implementations, PT path scoring system 986 can moreparticularly determine a score for each candidate trajectory path, thescore including one or more scoring factors, including but not limitedto costs, discounts and/or rewards associated with aspects of acandidate trajectory path for use in evaluation of a cost function orother scoring equation. Example scoring factors can include, forexample, a dynamics cost for given dynamics (e.g., jerk, acceleration)associated with the candidate trajectory path, a buffer cost associatedwith proximity of a candidate trajectory path to one or more constraintsand/or buffer zones within the multi-dimensional space, a constraintviolation cost associated with violating one or more constraints and/orbuffer zones, a reward or discount for one or more achieved performanceobjectives (e.g., a distance traveled reward for moving forward asopposed to not moving), a blind spot cost associated with a candidatetrajectory path that involves spending time in a blind spot of otheractors (e.g., other vehicles). The route selector 988 can be configuredto determine the low-cost trajectory path by determining the candidatetrajectory path that has a lowest total cost (or highest reward)determined by PT path scoring system 986.

FIG. 15 depicts a flow chart diagram of a first example method 1100 ofscenario generation and motion planning according to example embodimentsof the present disclosure.

At 1102, a computing system can determine a set of possible routemaneuvers, each possible route maneuver including a sequence of one ormore successive lane sequences.

At 1104, a computing system can determine one or more objects ofinterest having a predetermined manner of interaction with a lanesequence associated with a nominal path for an autonomous vehicle. Insome implementations, determining one or more objects of interest thatare interacting with a lane sequence is implemented for each of the oneor more successive lane sequences in the route maneuver determined at1102.

In some implementations, determining the one or more objects of interestthat are interacting with a lane sequence associated with the nominalpath for the autonomous vehicle at 1104 can include determining one ormore blocking objects based at least in part on a manner of interactionthat an object of interest has with a given lane sequence. In someimplementations, determining the one or more objects of interest thatare interacting with a lane sequence associated with the nominal pathfor the autonomous vehicle at 1104 can include determining one or moreyield zones that are associated with the one or more objects of interestor with one or more fixed locations (e.g., a fixed location associatedwith a stop sign, a traffic light, a crosswalk, etc.) along the lanesequence. In some implementations, method 1100 can also includedetermining a side of the nominal path for the autonomous vehicleassociated with each of the objects of interest determined to benon-blocking objects.

At 1106, a computing system can generate a constraint for each object inmulti-dimensional space (e.g., objects of interest determined at 1104).In some implementations, generating constraints at 1106 can includedetermining constraint areas corresponding to places along a nominalpath that an AV cannot occupy at certain times. In some implementations,each constraint generated at 1106 is defined as a constraint area in amulti-dimensional space. In some implementations, the multi-dimensionalspace is defined by at least a time dimension and a distance dimensionrelative to travel along the nominal path. In some implementations, eachconstraint area can be defined as a constraint sequence of linearconstraints that are successively sampled over a duration in time andsequentially combined to generate the constraint sequence. Each of thelinear constraints can be defined by one or more of a time when theconstraint begins, a time when the constraint ends, a distance along thenominal path when the constraint begins, a distance along the nominalpath when the constraint ends, and a maximum velocity that an autonomousvehicle can travel through the constraint area. In some implementations,generating constraints at 1106 can include generating a constraintwithin the multi-dimensional space corresponding to a speed zoneindicative of limitations on travel speed for the autonomous vehicle. Insome implementations, at least one buffer zone can also be generatedrelative to one or more of the constraints generated at 1106, eachbuffer zone descriptive of an additional area in the multi-dimensionalspace for having further clearance relative to an object of interest.

At 1108, a computing system can determine a low-cost trajectory paththrough a portion of multi-dimensional space that minimizes exposure tothe constraint areas generated at 1106.

Many different methods can be utilized to determine a low-costtrajectory path at 1108. In one example implementation, a rollout methodis employed whereby determining a low-cost trajectory path at 1108through a portion of the multi-dimensional space that minimizes exposureto the constraint areas includes determining a set of candidatetrajectory paths through the multi-dimensional space. More particularaspects of one example method of determining a low-cost trajectory pathare depicted in FIG. 16.At 1110, a computing system can extract a set ofnavigation decisions relative to the constraints (or correspondingobjects of interest) from the best trajectory path (e.g., the low-costtrajectory path determined at 1108) in the best maneuver from the set ofpossible route maneuvers determined at 1102. In some implementations,the set of navigation decisions determined at 1110 are determinedrelative to the one or more objects of interest determined at 1104 in amanner that is consistent with all constraints generated at 1106 for theone or more objects of interest. In some implementations, extracting aset of navigation decisions at 1110 includes translating the trajectorypath determined at 1108 into the set of navigation decisions based atleast in part on whether the trajectory path passes above or below eachconstraint area associated with an object of interest within themulti-dimensional space.

In some implementations, the set of navigation decisions relative to theone or more objects of interest comprises one or more of a navigationdecision to lead or follow an object of interest or a navigationdecision to yield or clear an object of interest.

In some implementations, method 1100 can also include pruning a subsetof the constraints generated at 1106 when a first portion of navigationdecisions in the set of navigation decisions extracted at 1110 rendersthe subset of the constraints as no longer affecting a second portion ofnavigation decisions in the set of navigation decisions.

At 1112, a computing system can determine a motion plan within a motionplanning space defined by the set of navigation decisions extracted at1110.

At 1114, a computing system can control motion of the autonomous vehiclebased at least in part on the motion plan determined at 1112.

As an example method to determine a trajectory path at 1108 of FIG, 15,FIG. 16 depicts a flow chart diagram of an example method 1200 accordingto example embodiments of the present disclosure.

In some implementations, at 1202 a computing system can determine a setof candidate trajectory paths through the multi-dimensional space. At1204, a computing system can generate a score for each candidatetrajectory path in the set of candidate trajectory paths determined at1202. The scores generated at 1204 for each candidate trajectory pathcan include one or more scoring factors, including but not limited tocosts, discounts and/or rewards associated with aspects of a candidatetrajectory path for use in evaluation of a cost function or otherscoring equation. Example scoring factors can include, for example, adynamics cost for given dynamics (e.g., jerk, acceleration) associatedwith the candidate trajectory path, a buffer cost associated withproximity of a candidate trajectory path to one or more constraintsand/or buffer zones within the multi-dimensional space, a constraintviolation cost associated with violating one or more constraints and/orbuffer zones, a reward or discount for one or more achieved performanceobjectives (e.g., a distance traveled reward for moving forward asopposed to not moving), a blind spot cost associated with a candidatetrajectory path that involves spending time in a blind spot of otheractors (e.g., other vehicles). At 1206, a computing system can determinea selected trajectory path based at least in part on the scores for eachcandidate trajectory path in the set of candidate trajectory paths. Forexample, the low-cost trajectory path can be determined at 1206 bydetermining the candidate trajectory path that has a lowest total cost(or highest reward) associated with the trajectory path.

As an example method to determine blocking decisions as part ofdetermining one or more objects of interest that are interacting with alane sequence associated with a nominal path for an autonomous vehicleat 1104, FIG. 17 depicts a flow chart diagram of an example method 1250according to example embodiments of the present disclosure.

In some implementations, at 1252 a computing system can access amachine-learned blocking classifier model. At 1254, a computing systemcan obtain feature data descriptive of a first object perceived by theautonomous vehicle. At 1256, a computing system can provide the featuredata obtained at 1254 as input into the machine-learned blockingclassifier model accessed at 1252. At 1258, a computing system canreceive a blocking decision as an output of the machine-learned blockingclassifier model. In some implementations, the blocking decision candescribe the first object as a blocking object or a non-blocking object.

FIG. 18 depicts a flow chart diagram of a second example method 1300 ofscenario generation and related motion planning according to exampleembodiments of the present disclosure.

At 1302, a computing system can determine a multi-dimensional space foreach phase of a plurality of different phases of a lane change maneuver.In some implementations, the plurality of different phases of the lanechange maneuver include a first phase when the autonomous vehicleoperates within boundaries of the first lane, a second phase when theautonomous vehicle has partially crossed a lane boundary between thefirst lane and the second lane and is in transition from the first laneinto the second lane, and a third phase when the autonomous vehicle hascompletely moved into the second lane and operates within boundaries ofthe second lane. In some implementations, the multi-dimensional spacefor each phase of the plurality of different phases of the lane changemaneuver is characterized by at least a time dimension and a distancedimension relative to travel along the nominal path.

At 1304, a computing system can determine one or more objects ofinterest having a predetermined manner of interaction with first andsecond lanes during each phase of the lane change maneuver. In someimplementations, determining one or more objects of interest at 1304 canbe implemented for each different phase of the lane change maneuver.

In some implementations, determining the one or more objects of interestthat are interacting with one or more of the first and second lanes at1304 can include determining one or more blocking objects based at leastin part on a manner of interaction that an object of interest has withone or more of the at least first and second lanes. In someimplementations, determining the one or more objects of interest thatare interacting with a lane associated with the nominal path for theautonomous vehicle at 1304 can include determining one or more yieldzones that are associated with the one or more objects of interest orwith one or more fixed locations along the lane sequence. In someimplementations, method 1300 can also include determining a side of thenominal path for the autonomous vehicle associated with each of theobjects of interest determined to be non-blocking objects.

In some implementations, determining one or more blocking objectsincludes obtaining feature data descriptive of a first object perceivedby the autonomous vehicle, inputting the feature data into amachine-learned blocking classifier model, and receiving a blockingdecision as an output of the machine-learned blocking classifier model,wherein the blocking decision describes the first object as a blockingobject or a non-blocking object.

At 1306, a computing system can generate a constraint for each object inmulti-dimensional space identifying constraint areas along a nominalpath an AV cannot occupy at certain times within each phase. In someimplementations, generating a constraint for each object inmulti-dimensional space at 1306 can be implemented for each differentphase of the lane change maneuver.

In some implementations, generating constraints at 1306 can includedetermining constraint areas corresponding to regions along a nominalpath that an AV cannot occupy at certain times. In sonicimplementations, each constraint generated at 1306 is defined as aconstraint area in a multi-dimensional space. In some implementations,the multi-dimensional space is defined by at least a time dimension anda distance dimension relative to travel along the nominal path. In someimplementations, each constraint area can be defined by a constraintsequence of linear constraints that are successively sampled over aduration in time and sequentially combined to generate the constraintsequence. Each linear constraint sampled to generate the constraintsequence can be defined by one or more of a time when the constraintbegins, a time when the constraint ends, a distance along the nominalpath when the constraint begins, a distance along the nominal path whenthe constraint ends, and a maximum velocity that an autonomous vehiclecan travel through the constraint area. In some implementations,generating a constraint at 1306 can include generating a constraintwithin the multi-dimensional space corresponding to a speed zoneindicative of limitations on travel speed for the autonomous vehicle.

At 1308, a computing system can determine a portion of themulti-dimensional space including corresponding constraints that appliesto a respective timeframe associated with the phase. In someimplementations, determining a portion of the multi-dimensional spaceincluding corresponding constraints that applies to a respectivetimeframe associated with the phase at 1308 can be implemented for eachdifferent phase of the lane change maneuver.

At 1310, a computing system can combine the respective portions of themulti-dimensional space determined at 1308 including correspondingconstraints generated at 1306 for each phase of the plurality ofdifferent phases to generate a multiplexed space. In someimplementations, combining the respective portions of themulti-dimensional space at 1310 generates a temporally multiplexed spacehaving a first portion corresponding to the first phase, a secondportion corresponding to the second phase, and a third portioncorresponding to the third phase.

At 1312, a computing system can determine a low-cost trajectory paththrough a portion of the multiplexed multi-dimensional space generatedat 1310 that does not include constraint areas or that minimizesexposure to the constraint areas. In some implementations, determining atrajectory path at 1312 through the portion of the multiplexed spacethat minimizes exposure to the constraint areas includes determining aset of candidate trajectory paths through the multiplexed space,generating a score for each candidate trajectory path in the set ofcandidate trajectory paths, and determining the low-cost trajectory pathbased at least in part on the scores for each candidate trajectory pathin the set of candidate trajectory paths. In some embodiments,determining a low-cost trajectory path at 1312 can include one or moreof the features described with reference to example method 1200 of FIG.16.

At 1313, a computing system can determine a best maneuver from aplurality of possible maneuvers. As such, each of steps 1302-1312 can beimplemented once for each of a plurality of possible maneuvers such thata low-cost trajectory is determined at 1312 for each maneuver in theplurality of possible maneuvers. A best maneuver is then determined at1313 based on scores for the best trajectory (e.g., the low-costtrajectory determined at 1312) for each maneuver and a relativepreference for each maneuver. For example, a relative preference canprovide a quantifiable indication of the urgency of performing thatparticular maneuver (e.g., changing lanes or staying in a current lane).

At 1314, a computing system can extract a set of navigation decisionsrelative to the constraints (or corresponding objects of interest) fromthe best trajectory path for the best maneuver determined at 1313. Insome implementations, the set of navigation decisions determined at 1314are determined relative to the one or more objects of interestdetermined at 1304 in a manner that is consistent with all constraintsgenerated at 1306 for the one or more objects of interest. In someimplementations, extracting a set of navigation decisions at 1314includes translating the best trajectory path for the best maneuverdetermined at 1313 into the set of navigation decisions based at leastin part on whether the trajectory path passes above or below eachconstraint area associated with an object of interest within themultiplexed multi-dimensional space.

In some implementations, the set of navigation decisions relative to theone or more objects of interest comprises one or more of a navigationdecision to lead or follow an object of interest or a navigationdecision to yield or clear an object of interest.

At 1316, a computing system can determine a motion plan within a motionplanning space defined by the set of navigation decisions extracted orotherwise determined at 1314.

At 1318, a computing system can control motion of the autonomous vehiclebased at least in part on the motion plan determined at 1316.

FIG. 19 depicts a block diagram of an example computing system 1400according to example embodiments of the present disclosure. The examplesystem 1400 includes an autonomy computing system 102 and a machinelearning computing system 1430 that are communicatively coupled over anetwork 1470.

In some implementations, the autonomy computing system 102 can implementa scenario generator or otherwise control the motion of an autonomousvehicle (e.g., autonomous vehicle 10). In some implementations, theautonomy computing system 102 can be included in an autonomous vehicle.For example, the autonomy computing system 102 can be on-board theautonomous vehicle. In other implementations, the autonomy computingsystem 102 is not located on-board the autonomous vehicle. The autonomycomputing system 102 can include one or more distinct physical computingdevices.

The autonomy computing system 102 includes one or more processors 1412and a memory 1414. The one or more processors 1412 can be any suitableprocessing device (e.g., a processor core, a microprocessor, an ASIC, aFPGA, a CPU, a GPU, a controller, a microcontroller, etc.) and can beone processor or a plurality of processors that are operativelyconnected. The memory 1414 can include one or more non-transitorycomputer-readable storage media, such as RAM, ROM, EEPROM, EPROM, one ormore memory devices, flash memory devices, etc., and combinationsthereof.

The memory 1414 can store information that can be accessed by the one ormore processors 1412. For instance, the memory 1414 (e.g., one or morenon-transitory computer-readable storage mediums, memory devices) canstore data 1416 that can be obtained, received, accessed, written,manipulated, generated, and/or stored. The data 1416 can include, forinstance, feature data as described herein. In some implementations, theautonomy computing system 102 can obtain data from one or more memorydevice(s) that are remote from the system 102.

The memory 1414 can also store computer-readable instructions 1418 thatcan be executed by the one or more processors 1412. The instructions1418 can be software written in any suitable programming language or canbe implemented in hardware. Additionally, or alternatively, theinstructions 1418 can be executed in logically and/or virtually separatethreads on processor(s) 1412.

For example, the memory 1414 can store instructions 1418 that whenexecuted by the one or more processors 1412 cause the one or moreprocessors 1412 to perform any of the operations and/or functionsdescribed herein, including, for example, some or all of the operationsdescribed with reference to method 1100 of FIG. 15, method 1200 of FIG.16, method 1250 of FIG. 17, and/or method 1300 of FIG. 18.

According to an aspect of the present disclosure, the autonomy computingsystem 102 can store or include one or more machine-learned models 1422.As examples, the machine-learned models 1422 can be or can otherwiseinclude various machine-learned models such as, for example, neuralnetworks (e.g., deep neural networks), support vector machines, decisiontree-based models (e.g., random forests), ensemble models, k-nearestneighbors models, Bayesian networks, or other types of models includinglinear models and/or non-linear models. Example neural networks includefeed-forward neural networks, recurrent neural networks (e.g., longshort-term memory recurrent neural networks), convolutional neuralnetworks, or other forms of neural networks.

In some implementations, the autonomy computing system 102 can receivethe one or more machine-learned models 1422 from the machine learningcomputing system 1430 over network 1470 and can store the one or moremachine-learned models 1422 in the memory 1414. The autonomy computingsystem 102 can then use or otherwise implement the one or moremachine-learned models 1422 (e.g., by processor(s) 1412). In particular,the autonomy computing system 102 can implement the machine learnedmodel(s) 1422 to generate blocking decisions for objects of interest.

The machine learning computing system 1430 includes one or moreprocessors 1432 and a memory 1434. The one or more processors 1432 canbe any suitable processing device (e.g., a processor core, amicroprocessor, an ASIC, a FPGA, a CPU, a GPU, a controller, amicrocontroller, etc.) and can be one processor or a plurality ofprocessors that are operatively connected. The memory 1434 can includeone or more non-transitory computer-readable storage media, such as RAM,ROM, EEPROM, EPROM, one or more memory devices, flash memory devices,etc., and combinations thereof.

The memory 1434 can store information that can be accessed by the one ormore processors 1432. For instance, the memory 1434 (e.g., one or morenon-transitory computer-readable storage mediums, memory devices) canstore data 1436 that can be obtained, received, accessed, written,manipulated, generated, and/or stored. The data 1436 can include, forinstance, feature data as described herein. In some implementations, themachine learning computing system 1430 can obtain data from one or morememory device(s) that are remote from the system 1430.

The memory 1434 can also store computer-readable instructions 1438 thatcan be executed by the one or more processors 1432. The instructions1438 can be software written in any suitable programming language or canbe implemented in hardware. Additionally, or alternatively, theinstructions 1438 can be executed in logically and/or virtually separatethreads on processor(s) 1432.

For example, the memory 1434 can store instructions 1438 that whenexecuted by the one or more processors 1432 cause the one or moreprocessors 1432 to perform any of the operations and/or functionsdescribed herein, including, for example, some or all of the operationsdescribed with reference to method 1100 of FIG. 15, method 1200 of FIG,16, method 1250 of FIG. 17, and/or method 1300 of FIG. 18.

In some implementations, the machine learning computing system 1430includes one or more server computing devices. If the machine learningcomputing system 1430 includes multiple server computing devices, suchserver computing devices can operate according to various computingarchitectures, including, for example, sequential computingarchitectures, parallel computing architectures, or some combinationthereof

In addition or alternatively to the models) 1422 at the autonomycomputing system 102, the machine learning computing system 1430 caninclude one or more machine-learned models 1442. As examples, themachine-learned models 1442 can be or can otherwise include variousmachine-learned models such as, for example, neural networks (e.g., deepneural networks), support vector machines, decision tree-based models(e.g., random forests), ensemble models, k-nearest neighbors models,Bayesian networks, or other types of models including linear modelsand/or non-linear models. Example neural networks include feed-forwardneural networks, recurrent neural networks (e.g., long short-term memoryrecurrent neural networks), convolutional neural networks, or otherforms of neural networks.

As an example, the machine learning computing system 1430 cancommunicate with the autonomy computing system 102 according to aclient-server relationship. For example, the machine learning computingsystem 1430 can implement the machine-learned models 1442 to provide aweb service to the computing system 102. For example, the web servicecan provide blocking decisions.

Thus, machine-learned models 1422 can be located and used at theautonomy computing system 102 and/or machine-learned models 1442 can belocated and used at the machine learning computing system 1430.

In some implementations, the machine learning computing system 1430and/or the autonomy computing system 102 can train the machine-learnedmodels 1422 and/or 1442 through use of a model trainer 1450. The modeltrainer 1450 can train the machine-learned models 1422 and/or 1442 usingone or more training or learning algorithms. One example trainingtechnique is backwards propagation of errors. In some implementations,the model trainer 1450 can perform supervised training techniques usinga set of labeled training data. In other implementations, the modeltrainer 1450 can perform unsupervised training techniques using a set ofunlabeled training data. The model trainer 1450 can perform a number ofgeneralization techniques to improve the generalization capability ofthe models being trained. Generalization techniques include weightdecays, dropouts, or other techniques.

The model trainer 1450 can be implemented in hardware, firmware, and/orsoftware controlling one or more processors. For example, in someimplementations, model trainer 1450 includes program files stored on astorage device, loaded into a memory and executed by one or moreprocessors. In other implementations, model trainer 1450 includes one ormore sets of computer-executable instructions that are stored in atangible computer-readable storage medium such as RAM hard disk oroptical or magnetic media.

In particular, the model trainer 1450 can train a machine-learned model1422 and/or 1442 based on a set of training data 1452. The training data1452 can include, for example log data annotated with blocking labels.The log data can describe blocking decisions determined by vehicles(e.g., autonomous vehicles and/or humanly-operated vehicles) duringpreviously conducted real-world (hiving sessions. As another example,training data 1452 can include synthesized blocking decisions generatedby playing forward or otherwise simulating certain scenarios that aredescribed by log data.

Referring still to FIG. 19, the autonomy computing system 102 can alsoinclude a network interface 1420 used to communicate with one or moresystems or devices, including systems or devices that are remotelylocated from the computing system 102. The network interface 1420 caninclude any circuits, components, software, etc. for communicating withone or more networks (e.g., 1470). In some implementations, the networkinterface 1420 can include, for example, one or more of a communicationscontroller, receiver, transceiver, transmitter, port, conductors,software and/or hardware for communicating data. Similarly, the machinelearning computing system 1430 can include a network interface 1440.

The network(s) 1470 can be any type of network or combination ofnetworks that allows for communication between devices. In someembodiments, the network(s) can include one or more of a local areanetwork, wide area network, the Internet, secure network, cellularnetwork, mesh network, peer-to-peer communication link and/or somecombination thereof and can include any number of wired or wirelesslinks. Communication over the network(s) 1470 can be accomplished, forinstance, via a network interface using any type of protocol, protectionscheme, encoding, format, packaging, etc.

FIG. 19 illustrates one example computing system 1400 that can be usedto implement the present disclosure. Other computing systems can be usedas well. For example, in some implementations, the autonomy computingsystem 102 can include the model trainer 1450 and the training dataset1452. In such implementations, the machine-learned models 1422 can beboth trained and used locally at the computing system 102. As anotherexample, in some implementations, the autonomy computing system 102 isnot connected to other computing systems.

In addition, components illustrated and/or discussed as being includedin one of the computing systems 102 or 1430 can instead be included inanother of the computing systems 102 or 1430. Such configurations can beimplemented without deviating from the scope of the present disclosure.The use of computer-based systems allows for a great variety of possibleconfigurations, combinations, and divisions of tasks and functionalitybetween and among components. Computer-implemented operations can beperformed on a single component or across multiple components.Computer-implemented tasks and/or operations can be performedsequentially or in parallel. Data and instructions can be stored in asingle memory device or across multiple memory devices.

The technology discussed herein makes reference to servers, databases,software applications, and other computer-based systems, as well asactions taken and information sent to and from such systems. Theinherent flexibility of computer-based systems allows for a greatvariety of possible configurations, combinations, and divisions of tasksand functionality between and among components. For instance, processesdiscussed herein can be implemented using a single device or componentor multiple devices or components working in combination. Databases andapplications can be implemented on a single system or distributed acrossmultiple systems. Distributed components can operate sequentially or inparallel.

While the present subject matter has been described in detail withrespect to various specific example embodiments thereof, each example isprovided by way of explanation, not limitation of the disclosure. Thoseskilled in the art, upon attaining an understanding of the foregoing,can readily produce alterations to, variations of, and equivalents tosuch embodiments. Accordingly, the subject disclosure does not precludeinclusion of such modifications, variations and/or additions to thepresent subject matter as would be readily apparent to one of ordinaryskill in the art. For instance, features illustrated or described aspart of one embodiment can be used with another embodiment to yield astill further embodiment. Thus, it is intended that the presentdisclosure cover such alterations, variations, and equivalents.

In particular, although FIGS. 15-18 respectively depict steps performedin a particular order for purposes of illustration and discussion, themethods of the present disclosure are not limited to the particularlyillustrated order or arrangement. The various steps of the methods 1100,1200, 1250, and 1300 can be omitted, rearranged, combined, and/oradapted in various ways without deviating from the scope of the presentdisclosure.

What is claimed is:
 1. A computing system that controls an autonomousvehicle, the computing system comprising: one or more processors; andone or more non-transitory computer-readable media that collectivelystore instructions that, when executed by the one or more processors,cause the computing system to perform operations, the operationscomprising: determining a multi-dimensional space for each phase of aplurality of different phases of a lane change maneuver associated withat least first and second lanes of a nominal path for an autonomousvehicle; for each different phase of the lane change maneuver:determining one or more objects of interest having a predeterminedmanner of interaction with the at least first and second lanes of thenominal path during the phase; generating a constraint for each of theone or more objects of interest, each constraint identifying aconstraint area along the nominal path that the autonomous vehiclecannot occupy during the phase; and determining a portion of themulti-dimensional space including corresponding constraints that appliesto a respective timeframe associated with the phase; combining therespective portions of the multi-dimensional space includingcorresponding constraints for each phase of the plurality of differentphases of the lane change maneuver to generate a multiplexed space; anddetermining a set of navigation decisions relative to the one or moreobjects of interest across the different phases and correspondingtimeframes of the multiplexed space.
 2. The computing system of claim 1,wherein the plurality of different phases of the lane change maneuvercomprise a first phase when the autonomous vehicle operates withinboundaries of the first lane, a second phase when the autonomous vehiclehas partially crossed a lane boundary between the first lane and thesecond lane and is in transition from the first lane into the secondlane, and a third phase when the autonomous vehicle has completely movedinto the second lane and operates within boundaries of the second lane.3. The computing system of claim 2, wherein the multi-dimensional spacefor each phase of the plurality of different phases of the lane changemaneuver comprises at least a time dimension and a distance dimensionrelative to travel along the nominal path.
 4. The computing system ofclaim 3, wherein combining the respective portions of themulti-dimensional space including corresponding constraints for eachphase of the plurality of different phases of the lane change maneuvergenerates a temporally multiplexed space having a first portioncorresponding to the first phase, a second portion corresponding to thesecond phase, and a third portion corresponding to the third phase. 5.The computing system of claim 4, wherein determining the set ofnavigation decisions relative to the one or more objects of interestcomprises determining a low-cost trajectory path through a portion ofthe multiplexed space that minimizes exposure to the constraint areas.6. The computing system of claim 5, wherein determining the set ofnavigation decisions relative to the one or more objects of interestfurther comprises translating the low-cost trajectory path into the setof navigation decisions based at least in part on whether the low-costtrajectory path passes above or below each constraint area associatedwith an object of interest within the multiplexed space.
 7. Thecomputing system of claim 5, wherein determining the low-cost trajectorypath through the portion of the multiplexed space that minimizesexposure to the constraint areas comprises: determining a set ofcandidate trajectory paths through the multiplexed space; generating ascore for each candidate trajectory path in the set of candidatetrajectory paths; and determining the low-cost selected trajectory pathbased at least in part on the scores for each candidate trajectory pathin the set of candidate trajectory paths.
 8. The computing system ofclaim 1, wherein each constraint area is defined by a constraintsequence of linear constraints that are successively sampled over aduration in time and sequentially combined to generate the constraintsequence.
 9. The computing system of claim 1, wherein determining theone or more objects of interest having the predetermined manner ofinteraction with the at least first and second lanes of the nominal pathduring the phase comprises determining one or more blocking objectsbased at least in part on a manner of interaction that an object ofinterest has with one or more of the at least first and second lanes.10. The computing system of claim 9, wherein determining the one or moreblocking objects comprises: obtaining feature data descriptive of afirst object perceived by the autonomous vehicle; inputting the featuredata into a machine-learned blocking classifier model; and receiving ablocking decision as an output of the machine-learned blockingclassifier model, wherein the blocking decision describes the firstobject as a blocking object or a non-blocking object.
 11. The computingsystem of claim 10, wherein the operations further comprise determininga side of the nominal path for the autonomous vehicle associated witheach of the objects of interest determined to be non-blocking objects.12. The computing system of claim 11, wherein determining the one ormore objects of interest that are interacting with a lane sequenceassociated with the nominal path for the autonomous vehicle comprisesdetermining one or more yield zones that are associated with one or morefixed locations along the at least first and second lanes.
 13. Thecomputing system of claim 11, the operations further comprising:determining a motion plan based at least in part on the set ofnavigation decisions; and controlling motion of the autonomous vehiclebased at least in part on the motion plan.
 14. An autonomous vehicle,comprising: one or more processors; and one or more non-transitorycomputer-readable media that collectively store instructions that whenexecuted by the one or more processors, cause the one or more processorsto perform operations, the operations comprising: determining amulti-dimensional space for each phase of a plurality of differentphases of a lane change maneuver associated with at least first andsecond lanes of a nominal path for an autonomous vehicle; for eachdifferent phase of the lane change maneuver: determining one or moreobjects of interest having a predetermined manner of interaction withthe at least first and second lanes of the nominal path during thephase; generating a constraint for each of the one or more objects ofinterest, each constraint identifying a constraint area along thenominal path that the autonomous vehicle cannot occupy during the phase;and determining a portion of the multi-dimensional space includingcorresponding constraints that applies to a respective timeframeassociated with the phase; combining the respective portions of themulti-dimensional space including corresponding constraints for eachphase of the plurality of different phases of the lane change maneuverto generate a multiplexed space; and determining a trajectory paththrough a portion of the multiplexed space that minimizes exposure tothe constraint areas; and determining, based at least in part on thetrajectory path, a set of navigation decisions relative to the one ormore objects of interest across the different phases and correspondingtimeframes of the multiplexed space.
 15. The autonomous vehicle of claim14, wherein the plurality of different phases of the lane changemaneuver comprise a first phase when the autonomous vehicle operateswithin boundaries of the first lane, a second phase when the autonomousvehicle has partially crossed a lane boundary between the first lane andthe second lane and is in transition from the first lane into the secondlane, and a third phase when the autonomous vehicle has completely movedinto the second lane and operates within boundaries of the second lane.16. The autonomous vehicle of claim 15, wherein the muti-dimensionalspace for each phase of the plurality of different phases of the lanechange maneuver comprises at least a time dimension and a distancedimension relative to travel along the nominal path.
 17. The autonomousvehicle of claim 16, wherein combining the respective portions of themulti-dimensional space including corresponding constraints for eachphase of the plurality of different phases of the lane change maneuvergenerates a temporally multiplexed space having a first portioncorresponding to the first phase, a second portion corresponding to thesecond phase, and a third portion corresponding to the third phase. 18.The autonomous vehicle of claim 14, wherein determining the one or moreobjects of interest having a predetermined manner of interaction withthe at least first and second lanes of the nominal path comprisesdetermining one or more blocking objects based at least in part on amanner of interaction that an object of interest has with a given lane.19. A computer-implemented method, comprising: determining, by acomputing system that comprises one or more computing devices, amulti-dimensional space for each phase of a plurality of differentphases of a lane change maneuver associated with at least first andsecond lanes of a nominal path for an autonomous vehicle; for eachdifferent phase of the lane change maneuver: determining, by thecomputing system, one or more objects of interest having a predeterminedmanner of interaction with the at least first and second lanes of thenominal path during the phase; generating, by the computing system, aconstraint for each of the one or more objects of interest, eachconstraint identifying a constraint area along the nominal path that theautonomous vehicle cannot occupy during the phase; and determining, bythe computing system, a portion of the multi-dimensional space includingcorresponding constraints that applies to a respective timeframeassociated with the phase; combining, by the computing system, therespective portions of the multi-dimensional space includingcorresponding constraints for each phase of the plurality of differentphases of the lane change maneuver to generate a multiplexed space; anddetermining, by the computing system, a set of navigation decisionsrelative to the one or more objects of interest across the differentphases and corresponding timeframes of the multiplexed space.
 20. Thecomputer-implemented method of claim 19, further comprising:determining, by the computing system, a motion plan based at least inpart on the set of navigation decisions; and controlling, by thecomputing system, motion of the autonomous vehicle based at least inpart on the motion plan.